Download USER MANUAL, Ethernet MIS34
Transcript
User Manual MAC00-EC4/-EC41, MAC00-EI4/-EI41, MAC00-EL4/-EL41, MAC00-EP4/-EP41, MAC00-EM4/-EM41 & MIS34x and MIS43x (Setup and funktionality only. Some connector ID’s may differ) Industrial Ethernet for MAC & MIS Integrated Motors JVL Industri Elektronik A/S LB0056-20GB Revised 21.5.2015 Important User Information ! Warning ! The MAC and MIS series of products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. Please contact your nearest JVL representative in case of technical assistance. Your nearest contact can be found on our web site www.jvl.dk Copyright 2010-2015, JVL Industri Elektronik A/S. All rights reserved. This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A/S. JVL Industri Elektronik A/S reserves the right to make changes to information contained in this manual without prior notice. Similarly JVL Industri Elektronik A/S assumes no liability for printing errors or other omissions or discrepancies in this user manual. MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A/S Bregnerødvej 127 DK-3460 Birkerød Denmark Tlf. +45 45 82 44 40 Fax. +45 45 82 55 50 e-mail: [email protected] Internet: http://www.jvl.dk CANopen® Is a registered trademark of CAN in AUTOMATION - International Users and Manufacturers Group e. V. (CiA), Nürnberg. DeviceNet® Is a trademark of ODVA (Open DeviceNet Vendor Association, Inc). EtherCAT® Is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. EtherNet/IP® Is a trademark of ODVA (Open DeviceNet Vendor Association, Inc). Modbus TCP/IP® Is a registered trademark of Schneider Electric. PROFINET IO® Is a registered trademark of PROFIBUS International, Karlsruhe. SERCOS interface® Is a registered trademark of SERCOS International e.V., Suessen, Germany. Contents 1 Introduction .................................................................... 7 1.1 Introduction ...............................................................................8 1.2 Module types ..............................................................................9 2 General Hardware description ..................................... 13 2.1 2.2 2.3 2.4 Hardware introduction ............................................................14 I/O descriptions ........................................................................15 Connector description .............................................................20 Cable accessories .....................................................................24 3 EtherCAT® Users Guide .............................................. 31 3.1 3.2 3.3 3.4 3.5 3.6 Introduction to EtherCAT® ....................................................32 Protocol specifications .............................................................34 Commisioning ..........................................................................38 EtherCAT® objects .................................................................43 CiA® DSP-402 drive profile ....................................................51 Examples ..................................................................................68 4 EthernetIP® Users Guide ............................................. 73 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 Introduction to EthernetIP .......................................................74 Using none cyclic messages ......................................................77 Using cyclic I/O-messages ........................................................82 Commissioning .........................................................................86 Implementation guidelines .......................................................93 Configuration with explicit messages .......................................96 Using and Selecting an Ethernet switch ...................................99 Examples ................................................................................100 ODVA Conformance Certificate ...........................................106 5 POWERLINK® Users Guide ....................................... 107 5.1 5.2 5.3 5.4 5.5 5.6 5.7 Introduction to POWERLINK® .............................................108 Protocol specifications ...........................................................111 Commissioning .......................................................................115 Ethernet POWERLINK objects ..............................................118 Network Management Services .............................................123 XML Device Description File .................................................124 Examples ................................................................................125 6 PROFINET® Users Guide .......................................... 131 6.1 6.2 6.3 6.4 6.5 Introduction to PROFINET IO ...............................................132 Commissioning .......................................................................134 PROFINET objects .................................................................140 Ethernet switch ......................................................................147 Examples ................................................................................148 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5 7 ModbusTCP/IP® Users Guide .................................... 153 7.1 7.2 7.3 7.4 Introduction to Modbus TCP/IP® ......................................... 154 Commissioning ...................................................................... 156 Register access ....................................................................... 164 Examples ................................................................................ 165 8 Module Registers ........................................................ 171 8.1 Register Overview ................................................................. 172 8.2 Register Descriptions. ............................................................ 173 9 Using MacTalk over Ethernet ..................................... 181 9.1 Using MacTalk over Ethernet ................................................ 182 9.2 Setting up the Ethernet at the PC .......................................... 183 9.3 Setting up MacTalk for Ethernet ............................................ 189 10 Examples common to all protocols ............................ 193 10.1Using module I/O in embedded RxP ..................................... 194 11 Appendix ..................................................................... 195 11.1Technical Data ....................................................................... 196 11.2Motor registers MAC050 - 141 ............................................. 200 11.3Motor registers MAC400 - 3000 ........................................... 209 11.4Motor registers MIS34x & 43x ............................................... 226 6 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 1 Introduction JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors 7 1.1 Introduction MAC family Ethernet for servos MIS family Ethernet for steppers TT3001-02GB Industrial Ethernet is becoming more and more popular as it offers • Very fast response time • Predictable delay times (deterministic protocol) • Safe transmission of data Compared with most of the “classic” non Ethernet based protocols the indstrial Ethernet offers state of the art performance. The MAC00-Ex4/-Ex41 and MIS34xxxxExxxxxx Industrial Ethernet module can be configured by the end user to a number of different Ethernet protocols, for instance • EtherCAT® • EtherNetIP® • Ethernet POWERLINK® • PROFINET IO® • Modbus TCP/IP® • And more to come Main Features: • High speed communication - 100Mbits/sec. • 2 individual ports on the module offers Daisy chaining possibility. • Standard M12 circular industrial connectors • MAC00-Ex4: 1 Digital input (24V) and 1 digital output (24V) for local use around the motor • MAC00-Ex41: 4 Digital input (24V) and 2 digital outputs (24V) for local use around the motor • Multiple alternative I/O possibilities available on request (OEM applications) • LED’s for easy monitoring of operation status • Optional encoder I/O • Rough design • Access to all internal motor parameters and registers possible. No need of pre-setup of the motor. • RS232 connection available for monitoring and setup use for the MAC00-Ex4/-Ex41 modules. • RS485 connection available for monitoring and setup use for the MISxxxxxxExxxx motor. MAC800 users important: Please notice that only MAC800 motors with a serial number newer than 85000 is compatible with the Ethernet modules MAC00-Exx. 8 JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors 1.2 1.2.1 Module types Module types (Only applicable for MAC00-Ex4/-Ex41) The MacMotor Ethernet modules are available for several Ethernet protocols. The module used for each protocol has its own unique type number, but is based on the exactly same hardware. A neutral module where no protocol is installed however also exist. • Neutral module - no protocol installed. MAC00-Ex4/-Ex41 is a neutral module not setup-up for any particular protocol. The final user can setup it up for any of the available protocols just by using the general MacTalk windows software. The visible LED marking, labels etc. only states that its a neutral MAC00-Ex4/-Ex41 module. • Pre-loaded module - a specific protocol has been installed. The modules MAC00-EC4/-EC41 (EtherCAT), MAC00-EI4/-EI41 (EtherNetIP), and MAC00-EL4/-EL41 (POWERLINK), MAC00-EP (Profinet), MAC00-EM (Modbus TCP) are setup at delivery with the relevant protocol and also the right LED marking. The final user can setup it up for any of the available protocols just by using the general MacTalk windows software. The visible LED marking, and type number is unique for each module type. All modules (when not delivered mounted in a MacMotor) is followed by a little label sheet containing labels for all the available standards and standards to come. The overall idea is that any module can be changed to another protocol if desired, the modules can stay neutral when it passes the distribution channel and be setup by the enduser simplifying the logistics. MAC800 users important: Please notice that only MAC800 motors with a serial number newer than 85000 is compatible with the Ethernet modules MAC00-Exx. 1.2.2 How to change the protocol type Only 2 steps are needed in this process. 1. 2. Install the intended protocol firmware in the module. Apply or changing the label with LED marking and type number of the module. The firmware can be setup as follows (see next page) JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors 9 1.2 Module types How to setup the module for a different/new protocol Step 1 Determine which Ethernet protocol you want to use. Have in mind that your Ethernet module may already be setup for a protocol. ! When changing protocol the module factory defaults are restored. Step 2 As shown the module is setup as a module with the Ethernet Powerlink protocol. Choose the Update Firmware in the Updates menu to setup the module with another protocol. Step 3 Make sure that the checkbox “Show all files” is checked. Select the desired firmware such as EtherNet-IP. Note that there may exist more than one version. Choose the newest version. Press Start to download the selected firmware. The status counter will now rise from 0 to 100%. Step 4 When the download process is finished, the status shows “Done”. Also “Current version” has changed to the actual downloaded version meaning that the firmware in the module is now changed permanently. Step 5 The module tab has now changed from Powerlink (EL) to EthernetIP (EI). Step 6 The firmware version, MAC address etc. can be monitored on the module tab. TT3039-02GB 10 JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors 1.2 Module types Only MAC Changing the label and typenumber (only MAC products) This illustration show how to apply the appropriate label in order to change the LED texts and also give the module its unique typenumber after the protocol firmware is loaded. Sheet with type labels for each Ethernet protocol Peel off the relevant label from the sheet. and place it in this area. The existing typenumber and LED texts will thereby be overwritten/replaced. TT3040GB Changing the label and typenumber (only MIS products) No changes need to be done at the MIS motors. The LED at the rear is universal. Typenumber overview for MAC and MIS: MAC Type MIS Type Ethernet Protocol MAC00-EC4/-EC41 MIS34xxxxECxxxxx EtherCAT MAC00-EI4/-EI41 MIS34xxxxEIxxxxx EtherNET / IP MAC00-EL4/-EL41 MIS34xxxxELxxxxx EtherNet POWERLINK MAC00-EM4/-EM41 MIS34xxxxEMxxxxx Modbus TCP MAC00-EP4/-EP41 MIS34xxxxEPxxxxx Profinet IO MAC00-ES4/-ES41 MIS34xxxxESxxxxx Sercos III * * Not available - contact JVL for further details. JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors 11 12 JVL Industri Elektronik A/S - User Manual - Ethernet expansion modules for MAC motors 2 General Hardware description JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors Only MAC 13 14 Secondary EtherNet Interface M12 female connector “L/A OUT” Primary EtherNet Interface M12 female connector “L/A IN” “I/O” 5 1 1 7 6 1 8 4 4 5 2 2 2 3 3 4 3 Digital inputs and outputs Voltage range 5-28 (32)V P- 3 4 1 O1 IO- IN1 O+ Rx Tx JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors Isolation zone 4 4 Inputs incl 8Mb RAM 4Mb Flash Control core Each isolation zone do not have galvanic contact with any other circuitry. See note1 2 Outputs See note1 See note1 4 3 4 A1/B1 Fx4 Fx1-3 IO1-4 O1 O2 RX TX GND A2/B2 AIN1 AIN2 GND 5V P+ P- TT3003GB Multifunction I/O1 (setup as “serial data”) High speed sync. 0/1 Internal COM Optional I/O use Status outputs Asynchronous interface (5V) Multifunction I/O2 AIN1=Zero search input ±10V nom. or up to 32V Analogue inputs (processor and encoder) Internal power supply Power supply (MAC400 or 800) Basic MAC motor Hardware introduction Tx1N Tx1P Rx1N Rx1P Isolation zone 3 Tx0N Tx0P Rx0N Rx0P Optocoupler RS232 serial interface See note1 Power supply for the module Note1: These signals are internally avilable. Custom hardware can be made for OEM appl. with other connectors in order to make the signals available. Contact your JVL representative for more information. Isolation zone 2 CVI P+ MAC00-Ex4 expansion module 2.1.1 2 Power supply MAC400/800: +24V “PWR” 2.1 Only MAC Overall hardware description All internal and external main connections can be seen in the illustration below. 2.2 2.2.1 I/O descriptions Only MAC Hardware overview Expansion module MAC00-Ex4 and Ex41 front plate Neutral module for all the Ethernet protocols (MAC00-Ex4 shown) Module status indicators. L/A IN Primary Ethernet channel M12 - 4pin female (D-coded) and LED for showing activity. L/A OUT Secondary Ethernet channel M12 - 4pin female Ethernet coded (D coded) Used when module is daisy chained 2.2.2 PWR Power supply connector M12 - 5pin male and Green LED for indicating power applied I/O I/O’s and RS232 interface MAC00-Ex4 (basic version) M12 - 8pin female 1 digital input and 1 digital output, 1 analogue input MAC00-Ex41 (ext. verison) M12 - 17pin female 4 digital inputs and 2 digital outputs, 2 analogue input 2 RS485 channels MAC Address Serial number Each module is having its own TT3038-01GB unique MAC address used to identify it on the Ethernet network. The MAC address can also be read electronically Eeach module have its own unique serial number which can be used for determine hardware version etc. External signals available at the MAC00-Ex4 and Ex41. Following signals are available. • “L/A IN” and L/A OUT” connector. - The Ethernet connection. L/A IN is connected to the upstream master and L/A OUT can be used downstream for the next motors/units in the chain. • “I/O” connector. - AIN1 - analogue input +/-10V. Can be used as input for the zero search sensor or as general analog input for speed or torque control depending on the what the actual operation mode in the motor has been setup for. MAC00-Ex41 offers a second analogue input AIN2. Function similar to AIN1. Please notice that AIN2 is not available if mounted in a MAC050-MAC141. - O1 - user output 1 Can be used as or as general output control able over the Ethernet interface. MAC00-Ex41 offers a second digital output (O2). Function similar to O2. - RS232 Interface. Serial unbalanced interface for connection to a PC or a controller. The protocol is similar to the USB or RS485 interface, which means that all registers/parameters in the motor can be monitored or changed. RS232 is not recommended for long distances (>10m). - IN1 - User input 1. Can be used as general input which can be read over the Ethernet interface. MAC00-Ex41 offers in total 4 digital inputs (IN1, IN2, IN3 and IN4). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 15 2.2 I/O descriptions - I/O supply and gnd (IO- and O+). Used as ground and supply for the user in/output (O1 and IN1). - 2 RS485 Multifunction I/O channels Only available at the MAC00-Ex41. Can be used for encoder input, full duplex serial communication, encoder output etc. Please notice that no multifunction I/O’s are available if mounted in a MAC050MAC141. • “PWR” connector. - 24V supply for the internal control circuitry in the motor. 16 Only MAC JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors Only MAC General power supply description The Ethernet modules can be used in the allmost all the MAC motors but please be aware that to use the MAC50 to 141 they will need the special option : “A009” for example “MAC140-A1-AAAA-A009” . The diagram below shows how to connect power to a MAC400 motor mounted with a MAC00-Ex4/-Ex41 module. Please notice that the voltage connected to P+ and/or CVI must stay in the range +12-26VDC. When using a MAC50 to 141 up to 48VDC is allowed. See also the general power supply description in the MAC motor main manual LB0047. For further information concerning physical connections, see the Expansion module MAC00-Ex4 (basis version) connector description, page 20. Power supply connections to a MAC400 mounted with a MAC00-Ex4 module. Power supply (control voltage) Make sure that all involved units are connected to the same potential +12-26VDC 2.2.3 I/O descriptions GND 2.2 MAC400 Motor with MAC00-Ex4 Power Supply Control Volt. P+ PCVI Main supply It is recommended that a separate supply line is used for each motor. Max. 26VDC ! Mains 115 or 230VAC MAC400 Motor with MAC00-Ex4 Power Supply Control Volt. P+ PCVI Main supply Max. 26VDC ! Mains 115 or 230VAC TT3011GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 17 2.2 I/O descriptions Only MAC Analogue input connection at the MAC motor mounted with a MAC00-Ex4 or Ex41 module. Connected to a external controller Position or velocity controller MAC motor +MAC00-Ex4 or MAC00-Ex41 ±10V out Ground Make sure that all involved units are connected to the same potential AIN1 (analogue input) GND (ground) AIN2 (only MAC00-Ex41) Screen Note ! : screen only connected to signal source. Connected to a potentiometer If only 24V supply is available insert a 2.7k resistor here. Power supply 10VDC Screen 2kOhm potentiometer (JVL typeno. “POT2K”) Note ! : screen only connected to signal source. MAC motor +MAC00-Ex4 or MAC00-Ex41 Make sure that all involved units are connected to the same potential AIN1 (analogue input) GND (ground) AIN2 (only MAC00-Ex41) This example only covers 0-10V but other configurations do of course also exist, such as 0-5V or +/-10V. Connected to a zero search switch Zero search switch Power supply 10-32VDC MAC motor +MAC00-Ex4 or MAC00-Ex41 Make sure that all involved units are connected to the same potential AIN1 (analogue input) GND (ground) AIN2 (only MAC00-Ex41) TT3012-02GB Note: Do not apply voltages higher than 32V to the analogue input (AIN) 2.2.4 18 Using the analogue input 1 and 2 (AIN1 and AIN2). When a MAC00-Ex4 or MAC00-Ex41 module is mounted in the MAC motor, the analogue input(s) is available in the same manner as in the basic motor itself. The analogue input(s) can be used for several applications and the function of the analogue input is determined by the mode in which the motor is set to operate. Typically the input(s) is used for controlling the velocity, torque or position of the motor but the input is also used as digital input for zero search or in “Air Cylinder Mode” where it is used as trigger input for the movement done by the motor. For further information concerning physical connections, see the Expansion module MAC00-Ex4 (basis version) connector description, page 20. Please notice that analogue input 2 (AIN2) is only available at MAC00-Ex41. Please notice that AIN2 is not available if mounted in a MAC050-MAC141. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors Only MAC 1 Only one motor can be connected at the interface line. 2 Use screened cable. 3 Ensure that GND (interface ground) is also connected. 4 Ensure that all units have a proper connection to safety ground (earth) in order to refer to the same potential. 5 The RS232 interface cable length should not exceed 10 metres. GND When connecting the RS232 interface to a PC or controller, the following rules must be followed: +12-32VDC RS232 - General description. The RS232 interface is considRS232 connection between a PC or central controller ered the main interface to the motor when the motor is set to MAC400 with a MAC00-Ex4 module. up using the MacTalk winCentral Make sure that all Power supply dows software from a PC or involved units are Controller connected to the same from any kind of controller us(for example a PC) potential ing a RS232 interface. Opto isolation * Tx Rx IGND 2.2.5 I/O descriptions Screen connected to GND in each end Screen 2.2 MAC400 Motor with MAC00-Ex4 Rx RS232 Tx Interface IGND Power P+ Supply P- Max. 32VDC ! Contr. Voltage CVI Main supply Mains 230VAC * Opto isolation is recommended if connection is permanent. TT3013GB Connectors: To see the specific connector pin-out please see the chapter Expansion module MAC00Ex4 (basis version) connector description, page 20 or Expansion module MAC00-Ex41 (extended IO) connector description, page 22 A finished RS232 cable also exist. Please see Cables for the MAC00-Ex4 (basic version), page 24 or Cables for the MAC00-Ex41 (extended I/O version), page 25 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 19 2.3 Connector description Only MAC Expansion module MAC00-Ex4 front plate L/A IN PWR Primary Ethernet channel M12 - 4pin female Ethernet coded (D coded) Power supply M12 - 5pin male connector including: P+ (primary supply), and CVI (secondary supply) and P- L/A OUT Secondary Ethernet channel M12 - 4pin female Ethernet coded (D coded) Used when module is daisy chained 2.3.1 I/O I/O’s and RS232 interface M12 - 8pin female connector including: 1 digital input and 1 digital output, 1 analogue input TT3002GB Expansion module MAC00-Ex4 (basis version) connector description The MAC00-Ex4 offers IP65 protection and M12 connectors which makes it ideal for automation applications where no additional protection is desired. The M12 connectors offer solid mechanical protection and are easy to unplug. The connector layout: “PWR” - Power input. M12 - 5pin male connector Signal name Description Pin no. JVL Cable WI1000M12F5T05N P+ Main supply - Connect with pin 2 * When installed in MAC050 to 141 = 12-48VDC When installed in MAC400-3000 = 18-30VDC 1 Brown 1 P+ Main supply - Connect with pin 1 * 2 White 1 P- Main supply ground. Connect with pin 5 * 3 Blue 1 CVI Control supply nominal +12-48VDC. DO NOT connect >50V to this terminal ! A small leakage current may exist on this pin if not used. Connect this terminal to ground if not used. 4 Black 1 P- Main supply ground. Connect with pin 3 * 5 Grey 1 Isolation group * Note: P+ and P- are each available at 2 terminals. Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector. (Continued next page) 20 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 2.3 Connector description Only MAC (MAC00-Ex4 continued) “I/O” - I/O’s and interface. M12 - 8pin female connector. Signal name Description Pin no. JVL Cable WI1000-M12 M8T05N Isolation group (See note) O1 Output 1 - PNP/Sourcing output 1 White 2 RS232: TX RS232 interface. Transmit terminal Leave open if unused. 2 Brown 1 RS232: RX RS232 interface. Receive terminal Leave open if unused. 3 Green 1 GND Interface ground to be used together with the other signals in this connector. Also ground for the analogue input (AIN1 - pin 5) 4 Yellow 1 AIN1 Analogue input1 ±10V or used for zero search 5 Grey 1 IN1 Digital input 1 - 12-32V tolerant. 6 Pink 2 IO- I/O ground to be used with the I/O terminals O1 and IN1. 7 Blue 2 O+ Positive supply input to the output circuitry. Connect 5-32VDC to this terminal if using the O1 8 output. Red 2 “L/A IN” - Ethernet port connector - M12 - 4pin female connector “D” coded Signal name Description Pin no. JVL Cable WI1046M12M4S05R Isolation group (See note) Tx0_P Ethernet Transmit channel 0 - positive terminal 1 Brown/White 3 Rx0_P Ethernet Receive channel 0 - positive terminal 2 Blue/White 3 Tx0_N Ethernet Transmit channel 0 - negative terminal 3 Brown 3 Rx0_N Ethernet Receive channel 0 - negative terminal 4 Blue 3 Shield Outside shield connected to connector housing Housing Shield 1 “L/A OUT” - Ethernet port connector. M12 - 4 pin female connector “D” coded Signal name Description Pin no. JVL Cable WI1046M12M4S05R Isolation group (see note) Tx1_P Ethernet Transmit channel 1 - positive terminal 1 Brown/White 4 Rx1_P Ethernet Receive channel 1 - positive terminal 2 Blue/White 4 Tx1_N Ethernet Transmit channel 1 - negative terminal 3 Brown 4 Rx1_N Ethernet Receive channel 1 - negative terminal 4 Blue 4 Shield Outside shield connected to connector housing Housing Shield 1 * Note: Isolation group indicate which terminals/circuits that a galvanic connected to each other. In other words group 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 21 2.3 Connector description Only MAC Expansion module MAC00-Ex41 front plate Extended I/O connections (MAC00-EC41 shown) L/A IN PWR Primary Ethernet channel M12 - 4pin female Ethernet coded (D coded) Power supply M12 - 5pin male connector including: P+ (primary supply), and CVI (secondary supply) and P- L/A OUT I/O Secondary Ethernet channel M12 - 4pin female Ethernet coded (D coded) Used when module is daisy chained 2.3.2 TT3087-01GB I/O’s and RS232 interface M12 - 17pin female connector includes: 4 digital inputs and 2 digital outputs, 2 analogue inputs 2 RS485 multifunction channels Expansion module MAC00-Ex41 (extended IO) connector description The MAC00-Ex41 offers IP65 protection and M12 connectors which makes it ideal for automation applications where no additional protection is desired. The M12 connectors offer solid mechanical protection and are easy to unplug. The connector layout: “PWR” - Power input. M12 - 5pin male connector Signal name Description Pin no. JVL Cable WI1000M12F5T05N P+ Main supply - Connect with pin 2 * When installed in MAC050 to 141 = 12-48VDC When installed in MAC400-3000 = 18-30VDC 1 Brown 1 P+ Main supply - Connect with pin 1 * 2 White 1 P- Main supply ground. Connect with pin 5 * 3 Blue 1 CVI Control supply nominal +12-48VDC. DO NOT connect >50V to this terminal ! 4 Black 1 P- Main supply ground. Connect with pin 3 * 5 Grey 1 Isolation group * Note: P+ and P- are each available at 2 terminals. Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector. (Continued next page) 22 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 2.3 Connector description Only MAC (MAC00-Ex41 continued) “I/O” - I/O’s and interface. M12 - 17pin female connector. Signal name Description Pin no. JVL Cable WI1009M12 M17TxxN IN1 Input channel 1. Can be used as digital input 1 Brown 2 GND Ground intended to be used toghether with the other signals related to isolation group 1 in this connector 2 Blue 1 IN2 Input channel 2. Can be used as digital input 3 White 2 IN3 Input channel 3. Can be used as digital input 4 Green 2 B2- ** RS485 Multifunction I/O terminal B2- 5 Pink 1 IN4 Input channel 4. Can be used as digital input 6 Yellow 2 A2- ** RS485 Multifunction I/O terminal A2- 7 Black 1 B2+ ** RS485 Multifunction I/O terminal B2+ 8 Grey 1 OUT+ Output 1 and 2 supply input. DO NOT connect >30V to this terminal ! 9 Red 2 A2+ ** RS485 Multifunction I/O terminal A2+ 10 Violet 1 O1 Output 1. Can be used as digital output 11 Grey/pink 2 O2 Output 2. Can be used as digital output 12 Red/blue 2 AIN1 Analog input 1. Can be used as analog input ±10V. 13 White/Green 1 AIN2 Analog input 2. Can be used as analog input ±10V. 14 Brown/Green 1 RS232: RX RS232 interface. Receive terminal Leave open if unused. 15 White/Yellow 1 Ground for IN1-4 and O1 and 2. Please notice that this terminal is normally isolated from the main ground and belongs to isolation group 2 16 Yellow/brown 2 RS232 interface. Transmit terminal Leave open if unused. 17 White/grey 1 IO- RS232: TX Isolation group (see note) “L/A IN” - Ethernet port connector - M12 - 4pin female connector “D” coded Signal name Description Pin no. JVL Cable WI1046M12M4S05R Isolation group (See note) Tx0_P Ethernet Transmit channel 0 - positive terminal 1 Brown/White 3 Rx0_P Ethernet Receive channel 0 - positive terminal 2 Blue/White 3 Tx0_N Ethernet Transmit channel 0 - negative terminal 3 Brown 3 Rx0_N Ethernet Receive channel 0 - negative terminal 4 Blue 3 Shield Outside shield connected to connector housing Housing Shield 1 “L/A OUT” - Ethernet port connector. M12 - 4 pin female connector “D” coded Signal name Description Pin no. JVL Cable WI1046M12M4S05R Isolation group (see note) Tx1_P Ethernet Transmit channel 1 - positive terminal 1 Brown/White 4 Rx1_P Ethernet Receive channel 1 - positive terminal 2 Blue/White 4 Tx1_N Ethernet Transmit channel 1 - negative terminal 3 Brown 4 Rx1_N Ethernet Receive channel 1 - negative terminal 4 Blue 4 Shield Outside shield connected to connector housing Housing Shield 1 * Note: Isolation group indicate which terminals/circuits that a galvanic connected to each other. In other words group 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the housing of the motor which may also be connected to earth via the DC or AC input supply. ** No connection when module is mounted in a MAC050-MAC141. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 23 2.4 Cable accessories 2.4.1 Only MAC Cables for the MAC00-Ex4 (basic version) The following cables equipped with M12 connector can be supplied by JVL. MAC00-Ex4 Connectors Description JVL Order no. X RS232 Interface cable. Connects directly from MAC00-Ex4 to a PC Length: 5m (197 inch) RS232-M12-1-5-8 X Cable with M12 male 8-pin connector loose wire ends 0.22mm² (24AWG) and screen. Length: 5m (197 inch) WI1000-M12M8T05N X Same as above but 20m (787 inch) WI1000-M12M8T20N X Cable (Ø5.5mm) with M12 female 5-pin connector loose wire ends 0.35mm² (22AWG) and foil screen. Length: 5m (197 inch) WI1000-M12F5T05N X Same as above but 20m (787 inch) WI1000-M12F5T20N “L/A IN” “L/A OUT” “I/O” 4pin 4pin 8pin male Female Female Picture “PWR” 5pin Male X X Ethernet cable with M12 female 4pin D coded straight connector, and RJ45 connector (fits into std. Ethernetport) WI1046-M12M4S05NRJ45 X X Ethernet cable with M12 female 4pin D coded straight connector, loose ends. WI1046-M12M4S05R X X Same as above but 15m (590 inch) WI1046-M12M4S15R Protection caps. Optional if connector is not used to protect from dust / liquids. X X X X IP67 protection cap for M12 female connector. WI1000-M12FCAP1 IP67 protection cap for M12 male connector. WI1000-M12MCAP1 Important: Please note that the cables are a standard type. They are not recommended for use in cable chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D cable). 24 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 2.4 Cable accessories 2.4.2 Cables for the MAC00-Ex41 (extended I/O version) The following cables equipped with M12 connector can be supplied by JVL. MAC00-Ex41 Connectors Description “L/A IN” “L/A OUT” “I/O” 4pin 4pin 17pin male Female Female JVL Order no. Only MAC Picture “PWR” 5pin Male RS232 Interface cable. Connects directly from MAC00-Ex4 to a PC Length: 5m (197 inch) IMPORTANT: Only valid if PA0190 is used as adapter. RS232-M12-1-5-8 X Cable with M12 male 17-pin connector loose wire ends 0.22mm² (24AWG) and screen. Length: 5m (197 inch) WI1009-M12M17T05N X Same as above but 20m (787 inch) WI1009-M12M17T20N X Cable (Ø5.5mm) with M12 female 5-pin connector loose wire ends 0.35mm² (22AWG) and foil screen. Length: 5m (197 inch) WI1000-M12F5T05N X Same as above but 20m (787 inch) WI1000-M12F5T20N (X) X X Ethernet cable with M12 female 4pin D coded straight connector, and RJ45 connector (fits into std. Ethernetport) WI1046-M12M4S05NRJ45 X X Ethernet cable with M12 female 4pin D coded straight connector, loose ends. WI1046-M12M4S05R X X Same as above but 15m (590 inch) WI1046-M12M4S15R 36.0mm [1.42 inch] 54.0mm [2.126 inch] Junction box for splitting the 17 pin I/O connector into 4 independant connectors. Include also 9 LED’s for monito- PA0190 ring the I/O status and communication. Cable length: 0,5m (20 inch) X = Mounting holes 0 5.0mm [0.197inch] 2x Ø4x8mm [Ø0.16x0.32inch] 2x Ø4/8mm [Ø0.16/0.32inch] 77.0mm [3.031inch] 112.0mm [4.409inch] TT3088-01GB 118.0mm [4.646inch] Protection caps. Optional if connector is not used to protect from dust / liquids. X X X X IP67 protection cap for M12 female connector. WI1000-M12FCAP1 IP67 protection cap for M12 male connector. WI1000-M12MCAP1 Important: Please note that the cables are a standard type. They are not recommended for use in cable chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D cable). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 25 2.4 Cable accessories Only MAC Below can be found drawings of the most typical cables used with the Ethernet modules. 2.4.3 Drawing WI1000-M12F5T05N Cable for connecting power M12, 5 pin female connector J1 Type: WI1000-M12F5T05N Length = 5 m Text printed on green tube 3 2 4 5 1 View from front Signal name Color Pin no. J1 Housing Screen Brown White P+ P+ Blue P- 2 3 Black (OptioNs) 4 Grey P- 5 1 LT0233-10 WI1000-M12F5T05N JVL Industri Elektronik A/S Blokken 42 DK-3460 Birkerød Tel: +45 4582 4440 Fax: +45 4582 5550 2.4.4 M12 shl cable 5 m 5 pin Fem 0° Power Version - 1.0 Date: 04-07-13 Approved by: - BVJ Drawn by: PCR Drawing WI1046-M12M4S05NRJ45 Cable that connects the Ethernet from M12 to RJ45 connectors M12, 4 pin male connector Ethernet D-Coded J1 Connector type RJ45 with internal metal housing/shield J2 Pin 1 Type: WI1046-M12M4S05NRJ45 Pin 8 Length = 5 m Text printed on green tube Pin1: Brown/White Pin1: Brown/White Pin 2: Blue/White Pin 2: Brown Alternative colors exist Please see table below. Alternative colors exist Please see table below. Pin 3: Brown Pin 3: Blue/White Flex Pin 4: Blue Pin 6: Blue Cable data : Twisted with screen SFTP 24AWGx2 +AEB. Housing Housing Please notice !: 2 versions of the cable type exist: Type 1: This is the standard cable normally stocked Type 2: This is the alternative cable normally not stocked Twisted pair Twisted pair Color (Type 1 standard) Color (Type 2 Alt.) Signal name Pin no. J1 Pin no. J2 1 1 Brown/White Orange/White Tx+ 2 Brown Orange Tx3 Blue/White Green/White Rx+ 2 Blue Green Rx- 4 3 6 Screen Screen GND House House LT0179-12 JVL Industri Elektronik A/S Blokken 42 • DK-3460 Birkerød Tel: +45 4582 4440 Fax: +45 4582 5550 26 WI1046-M12M4S05NRJ45 M12 shl cable 4 pin male 5m Ethernet D-Coded RJ45 Version - 1.2 Date: 8-7-13 Approved by: - BVJ Drawn by: PCR/BVJ JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 2.4 2.4.5 Cable accessories Only MAC Drawing RS232-M12-1-5-8 Cable that connects the RS232 from M12 to DSUB connectors. RS232 communication cable for MAC expansion modules DSUB Connector. Female 9pin. M12, 8 pin male connector J1 Ø6±0.2mm J2 Cable, Black PVC, UL 24 AWG, 8 core screened. 6 7 8 9 1 2 3 4 5 5 metre J1 Cable Pin no. 1 2 3 4 5 6 7 8 Max. 15.6mm Finger screws (2 pcs) Color Pin no. White Brown 2 Green 3 5 Yellow Grey Pink Blue Red Not connected Screen Housing J1 The wires White, Grey, Pink, Blue and Red are not connected and must be insulated J2 Pin 1, 4, 6, 7, 8, 9 must be left open LT0082-11 JVL Industri Elektronik A/S Blokken 42 • DK-3460 Birkerød Tel: +45 4582 4440 Fax: +45 4582 5550 2.4.6 J2 RS232-M12-1-5-8 Version - 1.1 Date: 27-9-06 Interface cable M12 to DSUB Approved by: BVJ - 1.1 Drawn by: JVJ Drawing and description of PA0190 Junction box that splits the connects the signals in the MAC00-Ex41 “I/O” connector into 4 individual connectors giving an easy and more flexible installation. Usage hints: The LED's will only work with MIS or MAC motors where the OUT+ and IO- is supplied from the Ethernet module. See also the I/O description for the module. If a cable is connected to the “BYPASS” then the Communication pins and GND must be properly connected to valid signals (pins 2,15,17). AND “COM” must not be used. In other words use EITHER the “BYPASS” OR the “COM” connector. Not both. 36.0mm [1.42 inch] 54.0mm [2.126 inch] = Mounting holes 0 5.0mm [0.197inch] 2x Ø4x8mm [Ø0.16x0.32inch] 2x Ø4/8mm [Ø0.16/0.32inch] 77.0mm [3.031inch] 112.0mm [4.409inch] TT3088-01GB 118.0mm [4.646inch] JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 27 2.4 Cable accessories Only MAC Terminal and LED description of the PA0190 Junction box. «COM» Cable from Module «BYPASS» 8 pin Female with 17 pin Male connector 17 pin Female 1 2 2 1 12 8 3 3 7 6 Pin no. Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Body 4 13 5 4 5 Func. IN4 TX RX GND RX TX AIN1 AIN2 GND Color* White Brown Green Yellow Grey Pink Blue Red - «IO2» 14 The screen is connected to «GND» (ground) 6 17 8 15 7 COM 11 10 16 9 Signals and colors like the «BYPASS» cable ASS BYP IO2 8 pin Male 11 10 16 9 IO1 1 2 8 3 7 4 5 Pin no. Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Body Funct. IN4 AIN1 AIN2 IOO2 O1 GND O+ GND 12 3 17 8 15 7 Pin no. Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Pin 9 Pin 10 Pin 11 Pin 12 Pin 13 Pin 14 Pin 15 Pin 16 Pin 17 Body 6 14 4 13 5 Funct. IN1 GND IN2 IN3 B2IN4 A2B2+ O+ A2+ O1 O2 AIN1 AIN2 RX IOTX GND Color* Brown Blue White Green Pink Yellow Black Grey Red Violet GY/PK RD/BU WH/GN BN/GN WH/YE YE/BN WH/GY - 6 «IO1» Color* White Brown Green Yellow Grey Pink Blue Red - 8 pin Male COM 8 3 7 4 5 POWER is lit if terminal «OUT+» is supplied RX is lit if data is received at the RS232 line. O1 is lit if output 1 is activated TX is lit if data is transmitted at the RS232 line. O2 is lit if output 2 is activated IO2 1 2 LED explanations 28 2 1 IO1 IN3 is lit if input 3 is activated. IN1 is lit if input 1 is activated IN4 is lit if input 4 is activated. IN2 is lit if input 2 is activated Text in NON-inverse must be used when PA0190 is used with the MAC00-Ex41 Ethernet modules. Text in inverse is NOT relevant when PA0190 is used with the MAC00-Ex41 Ethernet modules. Pin no. Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Body Funct. IN1 IN2 IN3 IOO2 O1 GND O+ GND 6 Color* White Brown Green Yellow Grey Pink Blue Red TT3089-01GB * Notes. Colors shown are based on the JVL standard cables type: COM connection 8 Pin Male cable WI1000-M12M8TxxN BYPASS connect. 17 Pin Male cable WI1009-M12M17TxxN IO1 connection 8 Pin Female cable WI1000-M12F8TxxN IO2 connection 8 Pin Female cable WI1000-M12F8TxxN JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 2.4 Cable accessories Only MAC Diagram of the internal details in the PA0190 Junction Box. TT3090-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 29 30 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3 EtherCAT® Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 31 3.1 Introduction to EtherCAT® MAC EtherCAT® Module Type: MAC00-EC4 (shown) or MAC00-EC41 (extended I/O) To be used in following servo products: MAC50, 095, 140 and 141 MAC400 and MAC402 MAC800 MAC1500 and MAC3000 MIS EtherCAT® motors. Type: MIS34xxxECxx85 or MIS43xxxECxx85 To be used in following stepper products: - Integrated from factory TT3041-02GB 3.1.1 Intro to EtherCAT®. EtherCAT® is a Real Time Ethernet technology which aims to maximize the use of the 100 Mbit, full duplex Ethernet bandwidth. It overcomes the overhead normally associated with Ethernet by employing "on the fly" processing hardware. An EtherCAT® net consists of a master system and up to 65535 slave devices, connected together with standard Ethernet cabling. The slave devices process the incoming Ethernet frames directly, extract or insert relevant data and transfer the frame to the next slave device, with a delay of approx. 4µs. The last slave device in the bus segment sends the processed frame back, so that it is returned by the first slave to the master as a kind of response frame. There are several protocols that can be used as the application layer. In the CANopen over EtherCAT® (CoE) technology, the CANopen protocol is applied to EtherCAT®. CANopen defines Service Data Objects (SDO), Process Data Objects (PDO) and the Object Dictionary structure to manage the parameters. Further information about EtherCAT®, is available from the EtherCAT® technology group http://www.ethercat.org. 32 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.1 3.1.2 Introduction to EtherCAT® Abbreviations Following general used terms are usefull to know before reading the following chapters. 100Base-Tx CAN CANopen CoE DC EMCY EoE ESI ESC ETG EtherCAT® IP MAC PDO SDO SII XML 100 MBit Ethernet on twisted pairs Controller Area Network Application layer protocol used in automation. CANopen over EtherCAT®. Distributed Clock Emergency Object. Ethernet over EtherCAT®. EtherCAT® Slave Information EtherCAT® Slave Controller EtherCAT® Technology Group Ethernet Control Automation Technologie Internet Protocol - IP address ~ the logical address of the device, which is user configurable (not used in EtherCAT®). Media Access Controller - MAC address ~ the hardware address of the device (not used in EtherCAT®) Process Data Object (for cyclic data) Service Data Object (for acyclic data) Slave Infirmation Interface eXtensible Markup Language - used for the ESI file. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 33 3.2 3.2.1 Protocol specifications EtherCAT® - communication The EtherCAT® fieldbus system is standardised by the EtherCAT® user organisation (ETG). The driving force behind this is the german company, Beckhoff GmbH. Due to the advanced Ethernet technology used for EtherCAT®, in the future, customers can change from other fieldbus systems to EtherCAT® or generally equip new plant models with EtherCAT®. Communication on EtherCAT® is based on a master/slave operation. The update cycle between master and slave depends on the number of EtherCAT® slaves, the amount of process data of the individual slaves, and the set update time of the master. Due to the ring topology, in every bus cycle only one telegram is sent on the bus. The bus cycle time thus remains exactly the same in every cycle. Slave addressing can be done in two ways: • Auto increment addressing • Fixed node addressing With Auto increment addressing the master scans the net for slaves, and the slaves are then addressed in the sequence they are physically present on the net. With fixed node addressing, the addresses that each node has programmed, is used. 3.2.2 EtherCAT® frame structure In EtherCAT®, the data between the master and the slaves is transmitted in Ethernet frames. An EtherCAT® Ethernet frame consists of one or several EtherCAT® telegrams, each addressing individual devices and/or memory areas. The telegrams can be transported either directly in the data area of the Ethernet frame or within the data section of a UDP datagram transported via IP. The EtherCAT® frame structure is pictured in the following figure. Each EtherCAT® telegram consists of an EtherCAT® header, the data area and a working counter (WKC), which is incremented by all EtherCAT® nodes that are addressed by the telegram and have exchanged associated data. 8 bytes 14 bytes Preamble Ethernet header 2 bytes 10 bytes EtherCAT header 1'st Datagram header 44 - 1498 bytes - 2 bytes Data WKC 4 bytes n'th EtherCAT datagram Checksum TT3007GB 3.2.3 Sync managers Sync managers control the access to the application memory. Each channel defines a consistent area of the application memory. The adapter module has four sync manager channels. The mailbox protocol (SDO's) and process data (PDO's) are described later in this chapter. 3.2.4 Sync manager watchdog The sync manager watchdog monitors the output sync managers. If the output data is not updated by the EtherCAT® master within the configured time, the watchdog will activate time out and change the state of the adapter module from Operational to Safe-Operational. Note: EtherCAT® has been designed so that it provides no way for a slave to monitor the connection to the master if the slave gets no output data. Note: The drive reaction to a communication fault must be configured in the module write flag register (object 2011 subindex 6 - motor set passive or motor set velocity =0). 34 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.2 3.2.5 Protocol specifications EtherCAT® - State machine Both the master and the slaves have a state machine with the states shown below. After boot the slaves are in INIT state, and then it's up to the master to request state transitions. The standardized EtherCAT® state machine is defined in the following figure. The bootstrap state is not supported. Init (IP) (IB) (PI) Pre-Operational (PS) (OI) (OP) (BI) Bootstrap (SP) (SI) Safe-Operational (OS) (SO) Operational TT3009GB The module enters the Init state directly after start-up. After this, the module can be switched to the Pre-Operational state. In the Pre-operational state the EtherCAT® mailbox communication is allowed and CoE objects can be accessed by SDOs. After the master has configured the slave, it can switch the module to the Safe-Operational state. In this state input I/O data (PDOs) is sent from the adapter module to the EtherCAT® master, but there is no output I/O data from the master to the module. To communicate output I/O data the master must switch the adapter module to the Operational state. State description table: State Description Init State after device initialisation. No Application layer communication (no SDO and PDO communication). Pre-operational SDO communication possible. No PDO communication. Safe-operational Transmit PDO operational (drive sends data to master) Operational Drive fully operational, responds to data via receive PDO Boot-strap Not used. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 35 3.2 3.2.6 Protocol specifications CANopen over EtherCAT® The application layer communication protocol in EtherCAT® is based on the CANopen DS 301 communication profile and is called CANopen over EtherCAT® (CoE). The protocol specifies the Object Dictionary in the adapter module, in addition to communication objects for exchanging cyclic process data and acyclic messages. In addition to DS301 and the default JVL profile, the MAC00-ECx also supports the DSP402 drive profile CiA® DSP-402 drive profile, page 51. The EtherCAT® module uses the following message types: • Process Data Object (PDO). The PDO is used for cyclic I/O communication, in other words, process data. • Service Data Object (SDO). The SDO is used for much slower acyclic data transmission. • Emergency Object (EMCY). The EMCY is used for error reporting when a fault has occurred in the module or in the drive. 3.2.7 Drive synchronization (only applicable to MAC400+ & MIS34x/43x) Distributed clocks The distributed clock is the primary mechanism built into the EtherCAT network protocol to allow synchronization between the master and slaves in the network. Not every EtherCAT device supports the distributed clock protocol, but those that do can use this mechanism to share a common clock domain across the network. MAC00-ECx supports this when mounted in a MAC400+, and the MIS also supports this feature. When the MAC00-ECx is mounted in a MAC050 - MAC141 DC is NOT supported. When the distributed clock protocol is being used, one clock on the network is selected as the master clock, and all other devices are synchronized to it. The master controller of the network determines which clock will be used as the master clock. The master clock can either reside in the master controller itself, or in one of the slave devices on the network. In many systems the slave devices are able to capture time stamps more accurately than the master controller, so usually the first DC capable slave device in the network is selected as the clock source. Every EtherCAT slave device which supports the DC feature includes hardware which allows a very accurate local time stamp to be captured when certain registers are written over the network. These time stamps can then be used by the slave device to adjust its local clock to remove the drift between it and the master clock on the network. The EtherCAT master uses these time stamps to calculate the network delay between devices on the network and to find an offset between each slave's local time and the system time. Once this offset has been found for each slave, the master writes the offset to a register on the slave's EtherCAT interface hardware. The result is a shared time base for every device on the network which supports the distributed clock protocol. 36 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.2 Protocol specifications Sync0 pulse The distributed clock allows multiple devices on the network to share a common time reference, but doesn't itself provide any real functional synchronization. Additional hardware is provided on the DC enabled slave devices, which allows a pulse to be generated on the slaves at a fixed period. This pulse, known as the Sync0 pulse, is used by the slave device to synchronize its internal functions to the network. The master is responsible for configuring the Sync0 pulse on each slave. Typically, the master finds a sync period which is compatible with all slave devices, and configures the Sync0 signal on all devices to occur simultaneously. The acceptable sync periods for each slave device can be found in the documentation provided by each device manufacturer. JVL MAC400+ servo motors have an internal position loop with an update rate of 1kHz (1ms) - (alternatively 1.3 or 2.6mS), when used with the MAC00-ECx. For the synchronization to work, it is needed that the Sync0 period used is an integer multiple of the 1ms position loop update rate. The JVL EtherCAT implementation supports 1 and 2 ms sync0 pulse.The MIS don't have any internal position loop, but nevertheless synchronizes its internal position update to the Sync0 pulse. Once the Sync0 signal is configured by the master to a multiple of the motor's servo period, the motor will adjust its internal loop to align the start of a servo period with the Sync0 signal. Since the master typically configures the Sync0 signals of multiple drives on the network to occur simultaneously, the result is simultaneous servo updates on multiple devices. Synchronization specifications When using synchronization the servo motor has to synchronize to the Distributed Clock of the network. This is done with a PLL circuit which takes a little time to settle. But when settled it has a maximum jitter of ±1µs (±500µs in MAC800). Cycle time 1ms 2ms Settle time of PLL: Typical settle time Max. settle time 2.4s 5s 2.6s 5s JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 37 3.3 3.3.1 Commisioning Indicator LED’s - description. The LED's are used for indicating states and faults of the Ethernet. There is one power LED, two link/activity LED's (one for each Ethernet connector), and 2 status LED's. MAC Module Indicators and label overview General status indicator MIS Motor Indicators and label overview Power indicator Error indicator General status indicator Line activity indicator (CN2) Line activity indicator (CN3) Error indicator Power indicator MAC address (placed at front) Line activity indicators MAC address Hardware serial number TT3010-02GB Hardware serial number LED indicator descriptions - Covers both MAC and MIS. LED Text Colour Constant Constant Blinking MAC / MIS off on Single flash Double flash Flickering L/A IN / L2 Green No valid Ethernet Ethernet is connection. connected. - - - Activity on line L/A OUT / L3 Green No valid Ethernet Ethernet is connection. connected. - - - Activity on line RUN / L1 Green Device Device state Device Device state = state = INIT = Operastate = Pre- Safe-operational operational tional - - ERROR / ERR PWR / PWR Red Green No error Critical comGeneral munication configuraor controller tion error error Power is apPower is plied to both not applied. motor and module. - Local error - Process data watchdog timeout / EtherCAT® watchdog timeout - Booting error Power is applied to module but no communication with motor. Notes: Blinking: Flashing with equal on and off periods of 200ms (2.5Hz). Single flash: Repeating on for 200ms and off for 1s. Double flash: Two flashes with a period of 200ms followed by 1s off period. Flickering: Rapid flashing with a period of approx. 50ms (10 Hz). 38 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.3 3.3.2 Commisioning Quick start with TwinCAT (JVL Profile). 1. Copy the Ethernet slave information file (“JVL ECS V14.XML”) to the folder “..\Twincat\IO\Ethernet\” on the master PC. 2. Apply power, and make sure the PWR (power) LED is lit. 3. Connect the Ethernet cable from Master to the L/A IN connector at the MAC module or CN2 at the MISxxxxxxECxx85 motor. Check that the corresponding LED is lit. 4. Start TwinCAT - system manager on the master, and make sure that a proper Ethernet I/O device is appended (consult your TwinCAT manual). 5. Right click the I/O device, and select "scan boxes". TT3004GB Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 39 3.3 Commisioning 6. The device should now appear in the left side of the TwinCAT window, with a tiny JVL logo. 7. Press F4 (Reload I/O devices), and select the JVL device on the left side of the window. 8. The "L/A IN" LED at the MAC module or "L2" at the MISxxxxxxECxx85 motor should now be flashing and the process data should now appear on the bottom right side of the TwinCAT window. 9. By pressing the "CoE online" tab, it's possibly to inspect the CANopen objects, and modify motor and module parameters. TT3006GB 10. If DSP402 drive profile is selected the JVL device is named "Drive" instead of "Box" as shown in the picture. 40 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.3 3.3.3 Commisioning Mechanical installation The network cables must be connected to the two M12 connectors (marked "L/A IN" and "L/A OUT") on the module. (Corresponds to CN2 and CN3 at the MIS motors). The cable from the EtherCAT® master is always connected to the "L/A IN" port. In the line topology, if there are more slave devices in the same line, the next slave device is connected to the port marked "L/A OUT". If there is a redundant ring, the right "L/A OUT" port of the last slave device is connected to the second port of the EtherCAT® master. See the figure below. Standard CAT 5 FTP or STP cables can be used. It is not recommended to use UTP cables in industrial environments, which is typically very noisy. Drive with EtherCAT module L/A IN Drive with EtherCAT module L/A OUT L/A IN L/A OUT Drive with EtherCAT module L/A IN L/A OUT OUT EtherCAT master IN TT3007GB 3.3.4 Synchronization configuration The MAC00-ECx and the MIS motors supports two different synchronization modes for their process data sync managers. These modes are: • Free run • Synchron with Sync0 Event - No synchronization. (Requires motor cycle to be 1.0 or 1.3ms.) - Use Distributed Clock, and synchronize to Sync0. Selection of synchronization mode is in TwinCAT done by selecting the drive and then the DC tab, and there select the appropriate "Operation mode". Please see illustration below. TT3093-01GB The "Synchron with Sync0 Event" mode is only accessible in the MIS and in the MAC00ECx if mounted in a MAC400+ motor. The MAC050-141 only supports the "Free run" mode. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 41 3.3 Commisioning Note ! Changes will only become effective after reconfiguring and restarting the EtherCAT master! Precautions In a typical EtherCAT system the master will periodically send process data to all devices on the network. Ideally, this process data will be received by the slave devices with a fixed delay relative to the Sync0 signal. For example, the master may configure the Sync0 period on all slaves to 1 millisecond, and time its communications so that the slaves receive updated process data every millisecond, exactly 50 microseconds before the Sync0 signal occurs. It's very common in an EtherCAT system for the master to run on a complex PC operating system, and therefore not have the high degree of real time performance that the slaves possess. In such cases there can be a significant amount of timing jitter on the process data messages that the master sends. For example, if the master has +/- 100 microseconds of jitter on its message transmission timing, then the slave may receive the process data update anywhere from 150 microseconds before Sync0 to 50 microseconds after Sync0. This can cause system level problems such as incorrect trajectory interpolation in cyclic synchronous position mode. Configuring the process data sync managers to use Sync0 synchronization mode can resolve the problems caused by timing jitter in the master. In this mode the master can compensate for its worst case timing jitter by transmitting the process data to the slaves sufficiently early to ensure that the data will be received before the Sync0 signal. The slaves will not use the process data received until the Sync0 time, so system can remain well synchronized even with a significant amount of timing jitter in the master. For example, in a system with a cycle time of 1ms and +/-100 microseconds of timing jitter on the master, the master could be configured to transmit its process data with a 300 microsecond offset (30% of the cycle time) from the Sync0 time on the slaves. This would ensure that the slave devices receive the process data well clear of the Sync0 update. Since the slaves are configured in Sync0 synchronization mode, they will not use the updated process data until the Sync0 signal occurs. Debugging synchronization (Only MAC modules) The distributed clock and Sync0 signals are all generated internal to the slave devices on the network. This can make it difficult to debug and verify the correct operation of the system synchronization mechanisms. JVL EtherCAT MAC modules provide some useful diagnostic capabilities that can aid the system developer in this area. One extremely useful tool for debugging synchronization issues is to program a general purpose module output pin to generate a pulse when the Sync0 signal occurs on the drive. Using an oscilloscope, the Sync0 signals of multiple drives can thereby be viewed directly. In a correctly configured system the Sync0 signals of all drives should occur simultaneously with no drift between them. The function is enabled by issuing command 0x13 to the module command register. The sync0 pulse is then present on the O1 output of the module. Disabling is done with the command 0x14. Please see Register 15 - Command register, page 176 for information about the module command register, and chapter 2 for how to use the general module I/O's. 42 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.4 3.4.1 EtherCAT® objects Process Data Object 21 (PDO/JVL Profile) PDO's (Process Data Objects) are used for cyclic transfer of time-critical process data between master and slaves. There is one receive PDO and one transmit PDO which is fully user configurable. Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave.It is possibly to set up five or eight, 32 bit registers in each PDO, depending on the configuration (Register 6 - Setup bits, page 173). The setup is done with MacTalk or via SDO object 0x2011 subindex 16-31. It requires a save in flash and a power cycle before the new configuration are used. If the configuration of the PDO's, is not altered by the user, the MAC00-EC4/-EC41 module uses the default mapping shown in the tables below. If module registers is placed in cyclic R/W, then the register number has to be calculated as follows: Register number = 65536 x sub index. Example: module command (sub-index 15) = 65536 x 15 = register 983040 When module registers (register numbers above 65535) are chosen, they have to be placed after the motor registers in the list of cyclic registers. NB! If an index is set to zero (No selection), then the following indexes is discarded. Thereby computing resources in the drive are released, which makes much faster cycle times possibly. Please see next paragraph. Default registers in transmit PDO 21 (Slave > Master) - Only MAC-ECx Object index Register no. Motor register short Motor register description 0 2 MODE_REG Operating mode 1 10 P_IST Actual position 2 12 V_IST Actual velocity 3 169 VF_OUT Actual torque 4 35 ERR_STAT Status bits 5 - - - 6 - - - 7 - - - The motor registers 35, 36, and 211 should NOT be inserted in the cyclic write list, as this may give unpredictable results. For clear of errors, reset of motor etc. please insert the module command register (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please refer to Register Overview, page 172. Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 43 3.4 EtherCAT® objects Default registers in receive PDO 21 (Master > Slave) - Only MAC-ECx Object index Register no. Motor register short Motor register description 0 2 MODE_REG 1 3 P_SOLL Operating mode Target position 2 5 V_SOLL Maximum velocity 3 7 T_SOLL Maximum torque 4 - - - 5 - - - 6 - - - 7 - - - Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. ! Default registers in transmit PDO (Slave > Master) - Only MISxxxxxxECxx85 Object index Register no. Motor register short Motor register description 0 2 MODE_REG Operating mode 1 10 P_IST Actual position 2 12 V_IST Actual velocity 3 35 ERR_STAT Error bits 4 36 WARN_BITS Warning bits 5 - - - 6 - - - 7 - - - Default registers in receive PDO (Master > Slave) - Only MISxxxxxxECxx85 Object index Register no. Motor register short Motor register description 0 2 MODE_REG Operating mode 1 3 P_SOLL Requested position 2 5 V_SOLL Requested velocity 3 6 A_SOLL Requested acceleration 4 - - - 5 - - - 6 - - - 7 - - - The MIS motor registers 24, 35 and 36 should NOT be inserted in the cyclic write list, as this may give unpredictable results. For clear of errors, reset of motor etc. please insert the module command register (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please refer to Register Overview, page 172 44 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.4 3.4.2 EtherCAT® objects Minimum cycle time (JVL Profile) The minimum cycle time is the minimum amount of time between each cyclic request (PDO) on the Ethernet. If the module is mounted in MAC050-MAC141 it is possible to add a poll division factor either in the EtherCAT® tab in Mactalk or manually in module register 8 (Register 8 - Poll division factor., page 175). The positions 6-8 is only transferred if enabled, Register 6 - Setup bits, page 173. If operating with values lower than those listed, data loss will occur. No. of motor registers transmitted in each direction Motor series MAC050 to MAC141 Motor series MAC400 to MAC3000 Motor series MIS34xxxECxx85 1/1 2/2 3/3 4/4 5/5 6/6 7/7 8/8 4mS * 8mS * 12mS * 16mS * 20mS * 24mS * 28mS * 32mS * 360µS * 395µS * 430µS * 465µS * 500µS * 535µS * 570µS * 605µS * 360µS * 395µS * 430µS * 465µS * 500µS * 535µS * 570µS * 605µS * * The minimum cycle times, is only valid if not sending any acyclic requests while in any operating mode. MODULE registers can be appended as the last registers in the list, at no extra timing cost. Motor register 35 shall be in the cyclic read list, as it is also used internally. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 45 3.4 EtherCAT® objects 3.4.3 Service Data Objects (SDO) Service Data Objects (SDOs) are mainly used for transferring non time-critical data, for example, identification, configuration and acyclic data. 3.4.4 Emergency Objects Emergency Objects (EMCYs) are used for sending fault information from the communication module and the motor to the EtherCAT® network. They are transmitted whenever a fault occurs in the motor or in the module. Only one Emergency Object is transmitted per fault. EMCYs are transmitted via SDO's. When the error is no longer present, the module will send a NoError EMCY object once. The following error codes can be generated: CANopen Firmware name Short description Error code Applicable to motortype MAC050- MAC400+ MIS34x / MAC141 MIS43x 0x0000 NO_ERROR 0x2221 IPEAK_ERR 0x2222 0x2280 0x3120 0x3210 0x3220 0x4210 0x5112 0x5380 0x5381 PWM_LOCKED IX_ERR UV_ERR OV_ERR UV_ERR DEGC_ERR U24V INIT_ERR STO_ALARM_ERR 0x5580 FLASH_ERR 0x6320 0x7110 0x7305 0x7306 0x7307 0x7308 0x7580 0x7581 0x8180 0x8181 0x8311 0x8331 0x8480 0x8611 0x8680 0x8681 0x8682 0x8780 46 No errors present Peak error, motor overcurrent PWM locked Phase error Low AC voltage Overvoltage on bus Undervoltage on bus Temperature too high Control voltage unstable Self diagnostics failed Error in write to the internal flash OLD_FILTER Invalid filter settings UIT_ERR Regenerative overload INDEX_ERR Internal encoder error ENC_LOSTPOS Encoder lost position ENC_REEDERR Encoder reed error ENC_COMMERR Encoder com. error SSI_ERR SSI read error INT_COM_ERR Internal com. error COM_ERR Modbus com. Error SLAVE_ERR Slave error I2T_ERR Overload FNC_ERR Function error SPEED_ERR Overspeed FLW_ERR Follow error PLIM_ERR Position limit exceeded NL_ERROR Neg. limit switch exceeded PL_ERROR Pos. limit switch exceeded PLL has lost synchronizaSYNC_ERROR tion to external sync signal. X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X - X - X X JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors X X - 3.4 EtherCAT® objects For a more comprehensive description of the MAC motor errors, please refer to the motor manual - LB0047-xx - chapter 2.7 and search for the firmware name. The MAC manual can be downloaded using this link: www.jvl.dk... The structure of the EMCY object is shown in the table below: 3.4.5 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 CANopen® error code: MSB (0x10) CANopen® error code: LSB (0x01) 8-bit error Register = object 0x1001 MAC motor ERR_STAT LSB MAC motor ERR_STAT MAC motor ERR_STAT MAC motor ERR_STAT MSB Byte 7 Reserved Object Dictionary An important part of the CoE protocol is the Object Dictionary, which is different objects specifying the data layout. Each object is addressed using a 16-bit index and possibly a sub index. There are some mandatory objects and some manufacturer specific objects. The objects in the CoE Object Dictionary can be accessed with SDO services. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 47 3.4 3.4.6 EtherCAT® objects Mandatory objects: Name Device type Error Register Index (hex) Sub Index Data Type Read only Default 0x0 1000 UNSIGNED32 X 1001 UNSIGNED8 X Bit 0 Generic error. Mandatory Bit 1 Current Bit 2 Voltage Bit 3 Temperature Bit 4 Communication (Overrun) Bit 5 Device profile specific Bit 6 Reserved 48 Manufacturer specific Manufacturer device name 1008 VISIBLE STRING X JVL MAC00ECx Manufacturer hardware version 1009 VISIBLE STRING X 1.0 Manufacturer software version 100A VISIBLE STRING X 1.0 Identity object 1018 IDENTITY 1C00 Contains information about the device type. This is the mapping error register, and it is part of the emergency object. If some of the sub index are high, an error has occurred. See also Emergency Objects, page 46. Mandatory Bit 7 SyncManager Communication Type Description Example: Version x.x Contain general information about the module X 0 1..4 X 4h 1 UNSIGNED32 X 0x0117 Number of entries. Mandatory Vendor ID, contains a unique value allocated to each manufactor. 117h is JVLs vendor ID. Mandatory. 2 UNSIGNED32 X 0x0200 Product Code, identifies a specific device version. The MAC00-EC4/-EC41 has the product code 200h 3 UNSIGNED32 X - Revision number. 4 UNSIGNED32 X - Serial number - IDENTITY X - Supported communication types 0 UNSIGNED8 X 4 Number of entries 1 UNSIGNED8 X 1 Mailbox out 2 UNSIGNED8 X 2 Mailbox in 3 UNSIGNED8 X 3 Output process data 4 UNSIGNED8 X 4 Input process data JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.4 3.4.7 EtherCAT® objects Manufacturer specific objects. The manufacturer specific objects, provides access to all module registers, and all motor registers, as well as a module command object. Index Sub (hex) Index Type Read only Default Description Module command object. See possible commands below. Module command 2010 0 UNSIGNED32 Module parameters 2011 0 UNSIGNED8 X 1 UNSIGNED32 X Motor parameters 2012 0 UNSIGNED8 X N UNSIGNED32 0 UNSIGNED8 N UNSIGNED32 Extended motor parameters 2013 63 Subindex count Access to module register N 254 Subindex count Access to the motor parameter n X 254 Subindex count Access to the motor parameter N+255 Note: Module parameters are not automatically saved to permanent memory after a change. The parameters can be saved permanently by applying a "Save parameters to flash" command afterwards. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 49 3.4 EtherCAT® objects 3.4.8 Object 0x2010 - Subindex 0 This object is used for sending commands to the module and is write only. It is analogue to writing to object 2011 subindex 15. The possible commands are shown in See “8.2 Register Descriptions.” on page 177. 3.4.9 Object 0x2011 The module registers is mapped to object 0x2011. The subindex 3-31 is R/W, the rest is read only. The register numbers are used as sub indexes in the object. See register descriptions in chapter 8 - page 173. 3.4.10 Object 0x2012 Object 0x2012 are for acyclic view or change of motor registers. Please find a complete list of register descriptions in the appendix. Registers relevant for the MAC050 to 141: Motor registers MAC050 - 141, page 200 Registers relevant for the MAC400 to 3000: Motor registers MAC400 - 3000, page 209 Registers relevant for the MI34x and MIS43x Motor registers MIS34x & 43x, page 226 3.4.11 Object 0x2013 (only applicable to MAC400-3000). Object 0x2013 are for acyclic view or change of motor registers above 255. To access a motor register the register number is calculated as follows: Motor register number = Subindex + 255 3.4.12 50 EtherCAT® Slave Information file EtherCAT® Slave Information file (ESI) is a XML file that specify the properties of the slave device for the EtherCAT® master and contains information on the supported communication objects. EtherCAT® Slave Information files for JVL drives are available through your local JVL representative. If TwinCAT is used for master then the XML-file shall be copied to the folder "..\TwinCAT\Io\EtherCAT\". JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 3.5.1 CiA® DSP-402 drive profile Introduction The MAC00-ECx supports the DSP-402 standard from CiA® http://www.can-cia.com/. Please refer to this standard for full details of the functions. The DSP-402 is only a standard proposal and might be changed in the future. We reserve the right to change future firmware versions to conform to new versions of the standard. Not all of the functionality, described in DSP-402, is supported. But all the mandatory functions are supported. The following operation modes are supported: Mode name Profile Position mode Profile Velocity mode Homing Mode Short Mode no. Comments pp pv hm 1 3 6 Default PDO addresses this mode. MAC050-141 only in Free Run mode. Cyclic Synchron Velocity csv * 9 MAC050-141 only in Free Run mode. Cyclic Synchron Torque cst * 10 Only MAC400 - MAC3000 * When using one of the cyclic modes it is strongly recommneded to use Distributed Clock, in order not to loose any cyclic frames. Cyclic Synchron Position csp * 8 Preconditions: Before the DSP-402 mode with all the described features can be used, the firmware in the MAC00-ECx module or the MISxxxxxxECxx85 motor must be updated to at least version 3.26. Besides, version 14 of the XML file must be used “JVL ECS V14.xml” found on the web page http://www.jvl.dk. • • • • The start mode of the motor must be set to passive. No power up Zero searches must be selected. If absolute movement is used, the ’resynchronize after passive mode’ must be set. The DSP-402 drive profile must be enabled and saved to flash (please see next paragraph). When using DSP-402 mode, manipulating motor parameters with object 0x2012 can corrupt the behavior of the DSP-402 functions. Also be aware that manipulating parameters in MacTalk should be avoided when using DSP-402. 3.5.2 Selecting DSP-402 drive profile As default the JVL EtherCAT module uses the CiA 402 drive profile. But if it - for some reason - is not selected, then enable it this way: In MacTalk in the Ethernet tab the checkbox ”Enable DSP402 drive profile” is checked, and the “Apply and save” button is pressed. Then after a power cycle the MAC00-ECx module or the MISxxxxxxECxx85 motor will wake up with DSP-402 drive profile enabled instead of the JVL profile. If already having a TwinCAT project, then delete the JVL box, and do a new scan for boxes. Now the JVL device will appear as a drive instead. 3.5.3 Supported objects Most of the DSP402 parameters start up in the module with default values. A few of them are set depending on the motor type the module is mounted in - either the MAC50-141, MAC400, 800, 1500, 3000 or the MISxxxxxxECxx85 motor. None of the parameters can be saved to flash in the module. The following table shows the additional object dictionary defined for DSP-402 support. Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 51 3.5 CiA® DSP-402 drive profile Index Sub Name (hex) idx. Distributed Clock 0x1C32 0 Synchronized output 1 Synchronization type 2 Cycle time Default value U8 U16 U32 RO RW RW U16 RO 5 Synchronization types supported Minimum cycle time U32 RO 6 Calc and copy time U32 RO 9 Delay time U32 RO 12 32 Cycle time too small Sync error RO RO 0 1 2 4 RO RW RW RO = 0x1C32:04 = 0x1C32:04 = 0x1C32:04 5 6 Synchronized output Synchronization type Cycle time Synchronization types supported Minimum cycle time Calc and copy time U16 Bool ean U8 U16 U32 U16 U32 U32 RO RO 12 32 Cycle time too small Sync error U16 Bool ean RO RO = 0x1C32:04 20000 - MAC400+ ??????? MISxxxxxxECxx85 ??????? - MAC050-141 False Motor type Motor catalogue number Motor manufacturer http motor catalogue address Supported drive modes U16 Str. Str. Str. RO RO RO RO 10 MACxxx JVL Industri Elektronik A/S www.JVL.dk U32 RO 0x00000025 Device data 6402 0 6403 0 6404 0 6405 0 6502 Attrib utes 0 1000000 - MIS and MAC400+ 20000000 - MAC050-141 5 - MIS and MAC400+ 1 - MAC050-141 1000000 - MIS and MAC400+ 20000000 - MAC050-141 71000 - MAC400+ 439000 - MIS 8000000 - MAC050-141 450000 - MAC400+ 2000000 - MIS 2000000 - MAC050-141 - 4 0x1C33 Type 0 Continued next page 52 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 CiA® DSP-402 drive profile Index Sub Name (hex) idx. 6503 0 Drive catalogue number 6504 0 Drive manufacturer 6505 0 http drive catalogue address Analogue/Digital I/O 2101* 0 Analog input 1 60FD 0 Digital inputs Type Str. Str. Str. Attributes RO RO RO I16 U32 RO, P RO, P 60FE Default value MACxxx JVL Industri Elektronik A/S www.JVL.dk 1 Input available in MAC00-EC4 4 Inputs available in MAC00-EC41 Up to 8 Inputs available in MISxxx 1 Output available in MAC00-EC4 2 Outputs avail. in MAC00-EC41 Up to 8 outputs avail. in MISxxx 0 Digital outputs U8 RO, P 1 2 Physical outputs Bit mask U32 U32 RW, P RW, P U16 U16 U16 I16 U32 I8 I8 U16 U16 U16 U32 U8 RO RW, P RW, P RW RW RW, P RO, P RW, P RW RW RW RW 2 50000 1000 9000 0 I32 U32 U16 I32 U8 I32 I32 U32 U32 U32 I16 I32 RO, P RW RW RW, P RO RW RW RW RW, P RW, P RW RO, P 100 6 2 0 0 Depending on motor type 100 15000 0 - Device control 603F 0 Error code 6040 0 Control word 6041 0 Status word 605A 0 Quick stop option code 6085 0 Quick stop deceleration 6060 0 Modes of operation 6061 0 Modes of operation display 6072* 0 Max torque 2204** 0 Run current 6073** 0 Max current 6075** 0 Rated current 607E 0 Polarity Position parameters 6064 0 Position actual value 6067 0 Position window 6068 0 Position window time 607A 0 Target position 607D 0 Software position limit 1 Min. 2 Max. 6080 0 Max motor speed 6081 0 Profile velocity 6083 0 Profile acceleration 6086 0 Motion profile type 60F4 0 Following error actual value 0 0x03 – MAC00-ECx 0xFF – MISxxx Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 53 3.5 CiA® DSP-402 drive profile Index Sub Name (hex) idx. Velocity parameters 606B 0 Velocity demand value 606C 0 Velocity actual value 606D* 0 Velocity window 606E* 0 Velocity window time 60FF 0 Target velocity Torque parameters 6071* 0 Target Torque Torque actual value 6077*** 0 Homing mode 2100 * 0 Homing torque 607C 0 Home offset 6098 0 Homing method 6099 0 Homing speeds 1 Speed during search for switch 2 Speed during search for zero 609A 0 Homing acceleration Factors 608F 0 Position encoder resolution 1 Encoder increments 2 Motor revolutions 6091 0 Gear ratio 1 Motor revolutions 2 Shaft revolutions 6092 0 Feed constant 1 Feed 2 Shaft revolutions ”Str” = “RO” = * ** *** 54 Type Attributes Default value I32 I32 U16 U16 U32 RO, P RO, P RW RW RW, P 100 6 - I16 I16 RW, P RO, P - U16 I32 I8 U8 U32 RW RW RW RO RW 30 0 0 2 50 U32 U32 RW RW 50 5000 U8 U32 U32 U8 U32 U32 U8 U32 U32 RO RW RW RO RW RW RO RW RW 2 Depending on motor type 1 2 1 1 2 Depending on motor type 1 String, ”I” = Integer, ”U” = Unsigned integer, figures = number of bits. Read Only, ”RW” = Read and Writeable, ”P” = PDO map able. Only available in MAC00-ECx. Only available in MISxxxxxxECxxxxx. Only available with MAC400+. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 3.5.4 CiA® DSP-402 drive profile Manufacturer specific objects when using CiA402. The objects in the previous paragraph is described more closely in the CiA402 drive profile documentation, except the manufacturer specific ones which are described in detail here. Object 0x2100 Only applicable to EtherCAT modules installed in servo motors (MACxxx). This read-writeable object describes the torque used during torque homing with the manufacturer specific homing modes -1, -2, -3 and -4. The units of the object are the same as used for other torque objects, for example object 0x6071. It is recommended to set this to a low value in order to avoid damaging the machine, if using torque homing. Object 0x2101 Only applicable to EtherCAT modules installed in servo motors (MACxxx). In this read only object it is possible to read the status of the motor analog input (ANINP). It is possible to map this object in the cyclic read PDO. The range of this object is ±1023 corresponding to ±10V on the input pin. This gives approximately 9.775mV/unit. Object 0x2204 Only applicable to EtherCAT modules installed in stepper motors (MISxxx). The stepper motor running current is specified in this read-writeable object. The units are mA, so a specified value of for example 3000 corresponds to a running current of 3A. Please look in the MIS motor manual for the maximum running current for the specific motor. 3.5.5 PDO’s (Process Data Objects) When selecting the DSP-402 drive profile the setup and functioning of the PDO’s is very different from the default JVL profile. In the DSP-402 drive profile there is one PDO in each direction. Each PDO can hold up to eight objects and the PDO’s are fully dynamic and is altered in TwinCAT, in the “Process data” tab. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 55 3.5 CiA® DSP-402 drive profile By right-clicking in the ”PDO Content” window a menu with options appear, and if pressing ”Insert” then a new window will open showing the possible objects to insert in the PDO. TT3080GB By selecting an object and pressing “OK” then that object is inserted in the PDO and will be transferred to the MAC00-ECx module or the MISxxxxxxECxx85 motor, at next “reload devices” if the “PDO configuration” checkbox is checked. TT3081GB For further information about PDO configuration please consult the appropriate manual for the PLC system used. 56 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 3.5.6 CiA® DSP-402 drive profile Supported cycle times The cycle time is the amount of time between each cyclic request (PDO) on the Ethernet. If the module is mounted in MAC050-MAC141 it is possible to add a poll division factor either in the EtherCAT tab in Mactalk or manually in module register 8 (See chapter 8 - Register 8 - Poll division factor., page 175). MAC050-141 Supported cycle times DC not supported with Distributed Clock CiA402 profile minimum 16ms cycle time Applicable shift time for a master with max. ±20µs jitter on cyclic frames** Motor series MAC400+ MISxxxxxxECxx85 1 or 2 ms **** (1ms*), 2 ms 1ms 2ms (1ms*) 10, 20, 30 ***, 40% 20, 30, 40% If changing the general shift time to 40% and adding a device specific shift time of 300µs. ** If the master has larger jitter than listed the lowest shift time value in the table must not be used. *** 30% sync0 shift time will only work if cycle time is different from 2ms. **** If 2ms cycle time i chosen, then it is also nesesary to chose 2ms motor cycle time in Mactalk or select FreeRun. * Refer to Shift time., page 64 for changing the shift time. If operating with values lower than listed then the motor will behave unpredictably. 3.5.7 Factors Position factor The position factor is the relation between the user unit and the internal position unit (counts). The position factor is automatically calculated when the feed constant (Object 0x6092) and gear ratio (Object 0x6091) are set. Example: We have a MAC motor with a 3.5:1 gear box connected to a belt drive. The diameter of the drive wheel is 12.4 cm. We want the unit of position to be in millimetres. The circumference of the drive wheel is 389.56mm (124mm*pi). The parameters should be set as follows: Object 0x6091 sub index 1 0x6091 sub index 2 0x6092 sub index 1 0x6092 sub index 2 Name Gear ratio / Motor revolutions Gear ratio / Shaft revolutions Feed constant / Feed Feed constant / Shaft revolutions Value 35 10 38956 100 Please note that it is not necessary to set the encoder resolution. This is automatically set by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 57 3.5 CiA® DSP-402 drive profile Position factor formula: Position_factor= Gear_ratio_Motor_rev.*Feed_constant_Shaft_Rev.*Position_encoder_res._Encoder_Increments Feed_constant_Feed*Feed_constant_Shaft_rev.*Position_encoder_res._Motor_rev. or as objects: Position_factor= Object 6091sub1*Object 6092sub2*Object 608Fsub1 Object 6092sub1*Object 6092sub2*Object 608Fsub2 The Position factor is calculated to in the above example: Position_factor= 35*100*4096 38956*10*1 = 36,8 The above example is for a MAC50-141. For MAC400, MAC1500 and MAC3000, the number 4096 shall be changed to 8192, for MAC800 the number is 8000. 3.5.8 Operation modes Changing operation mode A change of operation mode is nearly always possible. Change between CSP, CSV and CST can be done in any time, but the user is responsible for delivering valid values for the used mode at all times. It is only possible to change from homing mode to other modes when the homing procedure is finished. Profile position mode This mode can be used for positioning where a movement profile can be set up. The acceleration and maximum velocity can be programmed. In this mode, both absolute and relative moves are supported. The type of move is selected via bit 6 (abs/rel) in the status word. When a relative move is selected, the type of relative move is dependent on the setup in object 2011h sub index 6. It is also possible to select different movement modes. This is done using bit 5 (change set immediately) in the status word. When this bit is 0 and a move is in progress, the new set-point is accepted. But the new set-point and profile are not activated before the previous movement is finished. When this bit is 1, the new set-point is activated instantly and the motor will move to the new position with the new profile parameters. Please note: • The torque limit that is used during the profile can be set via object 6072h. • The register L1 (object 2012 subindex 81) is used to select the load factor when the profile is started. If a different load factor is required, this register must be set correctly. Velocity mode In this mode the motor runs at a selected velocity. A new velocity can be selected in object 0x60FF and the motor will then accelerate/decelerate to this velocity. The maximum slippage error is not supported in this mode. Please note: • The torque limit that is used during the profile can be set via object 6072h. 58 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 CiA® DSP-402 drive profile Homing mode In this mode different homing sequences can be initiated. The home sensor must be connected to the AIN input on the module. If end limit sensors are used during the homing sequence, then the sensors should be connected to the appropriate inputs, and they must be enabled via object 0x2011 sub index 11. In the MAC motors the module inputs is used. In the MIS motors the registers 125 (I/O active level and I/O type), and 132 (home input mask) have to be correctly set up prior to use. Do this setup by object 0x2012 or in MacTalk in the ‘I/O Setup’ tab. The torque limit used during homing is selected via object 0x2100. The unit of this object is the same as other torque objects, e.g. object 0x6072. The MAC00-ECx module and the MISxxxxxxECxxxx supports the following homing methods: Method Description -4 -3 -2 -1 0-2 3 4 5 6 7 8 9 10 11 12 13 14 15-18 20 22 24 26 28 30 31, 32 33 34 35 Torque homing in positive direction. Torque homing in negative direction. Torque homing in positive direction and afterwards homing on the index pulse. Torque homing in negative direction and afterwards homing on the index pulse. Not supported. Homing on positive home switch and index pulse to the left. Homing on positive home switch and index pulse to the right. Homing on negative home switch and index pulse to the left. Homing on negative home switch and index pulse to the right. Start positive (unless home switch is active), reverse on home switch active, stop at index. Start positive (unless home switch is active), stop at first index after active home switch. Start positive, reverse on limit switch, stop at first index after active home switch. Start positive, reverse on limit switch, reverse at homeswitch, stop at index. Start negative (unless home switch is active), reverse on home switch active, stop at index. Start negative (unless home switch is active), stop at first index after active home switch. Start negative, reverse on limit switch, stop at first index after active home switch. Start negative, reverse on limit switch, reverse at home switch, stop at index. Not supported. Homing on positive home switch. Homing on negative home switch. Start positive (unless home switch is active), stop at active home switch. Start positive, reverse on limit switch, stop at active home switch. Start negative (unless home switch is active), stop at active home switch. Start negative, reverse on limit switch, stop at active home switch. Not Supported Start negative, stop at index Start positive, stop at index Current position = home position. AvailAvail- able able in in MIS MAC X X X - X - X X X X - X - X - X - X - X - X - X - X X X X X X X X X X X X X For a comprehensive description of the homing modes 3-35, please consult the CiA DSP402 version 3.0. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 59 3.5 CiA® DSP-402 drive profile Please note that you should always use a home offset (object 0x607C) when using torque homing. This is to ensure that the motor moves away from the end limit. The sign of the home offset should be the opposite of the homing direction. For example, when using a negative homing direction, the home offset could be 5000. Cyclic Synchron Position mode (csp) This mode is used when synchronization between several drives are needed in position mode. The default PDO addresses this mode. It is the preferred mode for the NC system in TwinCAT. When using CSP mode it is highly recommneded to use Distributed Clock, in order not to loose any cyclic frames. If wanting to enable this mode as startup mode in TwinCAT then follow the steps below: Step 1-3. Select the drive and press the “Startup” tab, then press the “New” button, as shown in the below picture. TT3094-01GB 60 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 CiA® DSP-402 drive profile Step 4. In the ”Edit CANopen Startup Entry” window is then inserted the object no. “6060” as the “Index” value and the value “08” as the “Data” value as shown below. TT3095-01GB Note ! Changes will only become effective after reconfiguring and restarting the EtherCAT master! Please note: • The torque limit that is used during the mode can be set via object 6072h beforehand. • The motor register L1 (object 2012 subindex 81) is used to select the load factor when the mode is started. If a different load factor is required, this register must be set correctly. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 61 3.5 CiA® DSP-402 drive profile Cyclic Synchron Velocity mode (csv) This mode is used when synchronization between several drives are needed in velocity mode. When using CSV mode it is highly recommneded to use Distributed Clock, in order not to loose any cyclic frames. To use this mode the default PDO needs to be changed. Please follow the steps below: Step 1-2. It is easiest to change the PDO in TwinCAT if the drive is connected to TwinCAT and is “online”. Then first press the “CoE online” tab in the drive setup. Please see below picture. TT3096-01GB This way the available objects are fetched online from the drive, and don’t have to be keyed in manually. Step 3-6. Then press the “Process Data” tab, select “RxPDO” and then right click on Index 0x607A and select “Delete”. Answer yes to the confirmation. See steps in the picture below. TT3097-01GB 62 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 CiA® DSP-402 drive profile Step 7-8. Then right click in the bottom of the “PDO Content” and select “Insert”, as shown below. TT3098-01GB Step 9-10. Choose object 0x60FF from the list and press OK TT3099-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 63 3.5 CiA® DSP-402 drive profile Step 11. Make sure the “PDO assignment” is unchecked and “PDO Configuration” is cheked. Please see below. TT3100-01GB If wanting to enable this mode as startup mode in TwinCAT then please see the procedure in the previous paragraph “Cyclic synchron position mode”, and just change the “Data value to “09”, instead of “08”. Note ! Changes will only become effective after reconfiguring and restarting the EtherCAT master ! Please note: The torque limit that is used during the mode can be set via object 6072h beforehand. The register L1 (object 2012 subindex 81) is used to select the load factor when the mode is started. If a different load factor is required, this register must be set correctly. Cyclic Synchron Torque mode (cst) This mode is used when synchronization between several drives are needed in torque mode. When using CST mode it is highly recommneded to use Distributed Clock, in order not to loose any cyclic frames. To use this mode the default PDO needs to be changed. Please follow the steps 1-11 from above in "Cyclic Synchron Velocity mode" where the inserted object should be 0x6071 (target torque) instead of object 0x60FF. And then follow the steps 1-4 from “Cyclic synchron position mode”, and just change the “Data value to “0A”, instead of “08”, if wanting the motor to start up in CST mode. Notes ! Changes will only become effective after reconfiguring and restarting the EtherCAT master ! The register L1 (object 2012 subindex 81) is used to select the load factor when the mode is started. If a different load factor is required, this register must be set correctly. 3.5.9 64 Shift time. The shift time is the nominal time the cyclic EtherCAT frames are sent before the sync0 pulse is activated. At normal circumstances this setup should not be changed, as it will affect all the devices in the network. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 CiA® DSP-402 drive profile The default in TwinCAT is 30%, meaning that the cyclic EtherCAT frames are sent 30% of the cycle time before the sync0 pulse activates. If for example the cycle time is 1ms then the frames are sent 300µs before the sync0. This is of course nominal and will vary a lot because of timing issues in the EtherCAT master. It is also possible to add a device specific shift time, but then the sync0 pulse of the devices on the network will not be activated simultaneously, unless the same shift time is added to all devices. Changing general shift time. As written above changing this setting will affect all devices on the network. So proceed with care ! Step 1-3. Select the EtherCAT device, select the “EtherCAT” tab and press the “Advanced Settings” button. TT3101-01GB Step 4-6. Select “Distributed Clocks”, change the “Percent of cycle time” to the needed setting (10% - 40%) and press the “OK” button. TT3102-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 65 3.5 CiA® DSP-402 drive profile Adding device specific shift time. Device specific shift time will delay the sync0 pulse on the specific device. Be aware that if only changing this setting on some devices then the sync0 pulse will not appear simultaneously on all devices. Step 1-3. Select the drive, then select the “EtherCAT” tab and press the “Advanced Settings” button. TT3103-01GB Step 4-6. Select “Distributed Clocks”, change the “Shift time” “User defined” to the needed setting and press the “OK” button. TT3104-01GB 66 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.5 3.5.10 CiA® DSP-402 drive profile AL status codes. When the JVL motors are set in OP mode for the first time after power-up, with “DC Synchron with Sync0 Event” selected, then the JVL motor can return a status code to the AL register. AL Status Meaning code Course Action required 0x002C The sync0 pulses don't appear. Make sure the sync0 pulse is correctly setup in the master. Select a slower cycle time or a faster master. Select a supported cycle time. 0x0034 0x8003 SYNC0_NOT_RECE IVED_ANY_MORE TOO_MANY_SM_ EVENTS_MISSED DC_CFG_INVALID The cyclic dataframes from the master did not arrive in time. An unsupported cycletime is used. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 67 3.6 3.6.1 Examples Running Velocity control (JVL Profile) To use the JVL motor in velocity mode the following registers are basically of interest. 1. 2. 3. 4. "Mode" - Mode register register 2 "V_SOLL" - Velocity register 5 "A_SOLL" - Acceleration register 6 "Error/Status" - Error and status register 35 So, to control these registers the cyclic data needs to configured. From MacTalk the setup is configured as this. The actual velocity is transferred in the 1. word The 5. word holds the data from the error/status register. This data is a bitfield structure holding both motion related information and present error type. The operation mode is set in the 1. Word, 0=passive mode and 1=Velocity mode. Use passive mode to stop the motor and velocity mode to start the motor. The requested velocity is set in the 3. word The requested acceleration is set in the 5. word TT3016GB With the settings illustrated above we initiate the velocity mode by writing 0x1 to the first word-value, this is velocity mode. From the Master the registers is accessed using the PDO21 and accessing the registers R/W on words 1-5. Since different PLC's have different methods of implementation the basic steps is described in the following. 1. Set the needed velocity. V_SOLL = V x 2.77 [rpm] Ex. We need the motor to run with a constant speed of 1200 RPM. So, V_SOLL = 1200/2,77 = 433 cnt/smp 2. Set the needed acceleration. A_SOLL = A x 271 [RPM/s²] Ex. We need the motor to accelerate with 100000 RPM/s² so, A_SOLL = 100000/ 271 = 369 cnt/smp². 3. Now set the motor into velocity mode and thereby activate the motor. Ex. The motor needs to be activated by setting it into velocity mode, so we need to set the mode register to the value 1. Mode = 1 which is velocity mode, now the motor will use the acceleration and the velocity just configured. Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 and Motor registers MAC400 - 3000, page 209 and Motor registers MIS34x & 43x, page 226 68 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.6 3.6.2 Examples Running Position control (JVL profile) Running the motor in position control requires that the mode register is set for position control. The following registers is of particular interest when position mode is used. 1. 2. 3. 4. 5. 6. 7. 8. "Actual position" -P_IST, register 10 "Actual velocity" -V_IST, register 12 "Follow error" - The actual position error, register 20 "Motor load mean" - average motor load, register 16 "Error/Status" -register 35 "Requested position" -P_SOLL, register 3 "Requested velocity" -V_SOLL, register 5 "Requested acceleration" -A_SOLL, register 6 In this mode the position is controlled by applying a requested position to the "P_SOLL" -register and the actual position is monitored in the "P_IST" register. The V_SOLL and A_SOLL registers sets the velocity and acceleration used when positioning occurs. 10 Actual position, P_IST value is sent back in this word 12 Actual velocity, V_IST is sent back in this word 20 Follow error, the position error 16 Motor load mean. The mean load on the motor 35 Error/Status holds information regarding motion status and error status/code if any 2 Operating mode is used to enable/disable the motor Values: Passive mode = 0 Position mode = 2 TT3017GB 3.6.3 3 Requested position, Sets the P_SOLL value. 5 Velocity, sets the V_SOLL requested velocity value The resolution is 100 RPM = 277 counts/sample 6 Acceleration, requested acceleration 0 Not used - Any register can be inserted here General considerations The register 35 in the motor holds information on the actual error/status. So it is crucial that this register is configured in the cyclic data and thereby obtained and monitored in the Master. In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the I/O -data. This register also holds information on the motion status such as: - In position, bit 4 - Accelerating, bit 5 - Decelerating, bit 6 Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 and Motor registers MAC400 - 3000, page 209 The JVL motor is basically put into a working mode and into a passive mode where the motor axle is de-energized, by setting register 2 into either 0 = "passive mode" or into one of the supported modes. Example. 1= "Velocity mode" / 2= "Position mode" / etc. So in order to Stop or Start the motor this register can be supported in the I/O data or by sending an SDO message. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 69 3.6 3.6.4 Examples Homing using only cyclic I/O (JVL profile). When doing a homing (Zero search), with only cyclic I/O, some preconditions have to be met: Zero search position, zero search velocity and zero search torque (torque only for MAC motors) has to be set in MacTalk in the "Main" tab, and saved in flash in the motor once and for all. TT3083GB Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB 70 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 3.6 Examples Register 2 (Operating mode) has to be present in BOTH the cyclic read words and cyclic write words. TT3085GB Procedure in the PLC: • Treat the transmitted Register 2 as "Requested_Mode" and the received register 2 as "Actual_Mode". • When homing is wanted, set the "Requested_Mode" to one of the values 12, 13 or 14 depending of the requested homing mode (12 = Torque based zero search mode (only MAC motors). 13 = Forward/only zero search mode. 14 = Forward+backward zero search mode (only MAC motors) .). For a comprehensive description of the homing modes, refer to the general MAC motor manual LB0047-xxGB. • Observe that the "Actual_Mode" is changing to the homing mode. Now the module is blocking cyclic writes TO the motor. Cyclic reads is still active. • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 71 3.6 3.6.5 Examples Relative positioning (JVL profile). There are a number of ways to do relative positioning, but the one explained here is very simple, and can be used with a constant distance, or exchangeable distance, to move every time it is requested. Preconditions: Place the module command register (register 983040 in MacTalk) in the cyclic write list. The cyclic setup, could for example look like this: TT3086GB Procedure in the PLC: 1. Set up register P7 in motor to requested relative offset. 2. Make sure one net cycle has passed, so P7 resides in the motor. 3. Issue command 0x800000F1 (0x80000071 if the device is a MISxxxxxxECxxxx) in module command register (register 983040 in MacTalk). 4. Make sure one net cycle has passed, so command is interpreted by the motor. 5. Set module command register to zero. This will prepare the Ethernet module for new commands. 6. If needed then monitor register 35 (Error status): When bit 4 is set (in position), then the move is finished. 7. When a new relative move is requested, go to step 3. You may also have the P7 register in the cyclic write list, thereby enabling easy change of the relative distance to move. 72 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4 EthernetIP® Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 73 4.1 Introduction to EthernetIP MAC Ethernet/IP Module Type: MAC00-EI4 (shown) or MAC00-EI41 (extended I/O) To be used in following servo products: MAC50, 095, 140 and 141 MAC400 and MAC402 MAC800 MAC1500 and MAC3000 MIS Ethernet/IP motors. Type: MIS34xxxEIxx85 or MIS43xxxEIxx85 To be used in following stepper products: - Integrated from factory TT3042-02GB 4.1.1 Introduction to EtherNet/IP The JVL MAC00-EIx -module or MISxxxxxxEIxxxx, makes communication using EtherNet/IP possible with the JVL motor. The Ethernet technology gives the advantages of fast data access using standard off the shelf hardware which again has the advantage of large accessibility and low prices. The JVL implementation is done in a way that minimizes the complexity of getting a system up and running but still utilizes the benefits of industrial ethernet. The JVL EtherNet/IP implementation supports both explicit messaging and I/O messages with up to 8 free configurable input and output words. With a basic knowledge of the JVL motor operation through the register structure and a basic knowledge of the EtherNet/IP technology, a motor can be setup and controlled in a very short time without first doing extensive studies in complex motion control standards e.t.c. EtherNet/IP is basically divided in 2 groups of data, explicit and I/O messages in other words messages requiring fast data response time and data not so time critical typically used for configuration purposes. In the EtherNet/IP terminology these messages are also called Explicit messages (not time critical, none cyclic exchanged) and I/O messages (time critical, cyclic exchanged). In the motion control world, time critical data would be actual position, actual status and actual speed and actual torque where data not time critical would be such as motor temperature and setup parameters. (continued next page). 74 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.1 Introduction to EthernetIP EtherNet/IP is object based similar to DeviceNet and follows the standards issued by ODVA. For more information on EtherNet/IP please visit www.ODVA.org for further details on EtherNet/IP and to get the EtherNet/IP standard specification issued by ODVA. The JVL implementation supports manufacture specific objects to gain access to each register in the motor. This manual assumes that the servomotor user manual has been read and a base knowledge using the servomotor and the configuration software MacTalk is acquired. The examples and screen shots in this manual are taken from MacTalk and a Rockwell RSLogix5000 application. Please be aware that other PLC vendors than Rockwell exist. 4.1.2 Abbreviations The below general used terms are useful to know before reading the following chapters. 100Base -Tx 100 MBit Ethernet on twisted pairs. IP Internet Protocol - IP address ~ the logical address of the device which is user configurable. MAC Media Access Controller - MAC address ~ the hardware address of the device. MacTalk A windows PC based program supplied from JVL. This is an overall program to install, adjust and monitor the function of the motor and a module installed in the motor. 4.1.3 TCP Transfer Control Protocol (an IP based protocol used widely on the internet) UDP User Datagram (an IP based protocol used widely on the internet) DHCP Dynamic Host Configuration Protocol (Automatic configuration of IP address netmask and gateway from a DHCP server). Daisy chaining Up to 64 units (nodes) can be daisy chained. By daisy chained means making a direct cable from the master in the system to motor 1 at the "L/A IN" connector at MAC motors and the "CN2" connector at the MIS motors. Continue from motor 1 "L/A OUT" (MAC) or "CN3" (MIS) to motor 2 “L/A IN”/CN3 etc. This method is saving hardware since no switch(es) is needed and can often be the simplest way of doing the wiring. The disadvantage is that the data will be delayed slightly depending on how many motors that are daisy chained and the network load will be significant if a larger number of motors is connected this way. Another and more common solution is to use a switch after the master and then distribute data to each node from this switch. This solution has a minimal delay of the data stream. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 75 4.1 4.1.4 Introduction to EthernetIP EthernetIP specification The JVL implementation supports standard objects as well as manufacturer specific objects to gain access to each register in the motor and in the module. Supported standard EthernetIP classes Type Class Identity Object, class Message router object, class Assembly object, class TCP/IP interface object, class Ethernet link object, class 0x01 0x02 0x04 0xF5 0xF6 On top of this the JVL manufacturer specific class objects has been added. Supporting manufacturer specific classes Type Class Motor registers Module registers 0x64 0x65 Identity object class 0x01 Holds information about the JVL device on the network. Typical used by other devices to identify devices on the network. (for further specification please refer to the EtherNet/IP approximately.) Message router object class 0x02 Handles all messages to/from object's in the device. Assembly object class 0x04 Object that binds all IO data to a connection point. TCP/IP interface object class 0xF5 Holds all information on the Ethernet connection, such as the IP-address, Network mask and GateWay. Ethernet link object class 0xF6 Holds information on link specific counters and instances associated with the communication interface. Motor registers object class 0x64 Access to all registers in the Motor. Module registers object class 0x65 Access to all registers in the Module. 76 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.2 Using none cyclic messages None cyclic messages in the EtherNet/IP domain is called Explicit messages. This message type is typically used to perform configuration and other none-time critical operations. Explicit messages can be send as a connected or unconnected message. All registers in the motor and in the EthernetIP module can be accessed explicitly using object classes 0x64 and 0x65 respectively. Please see paragraphs 4.2.6 and 4.2.7 4.2.1 Type definitions: UINT 16bit DINT 32bit STR String of ASCII-chars 4.2.2 Identity object class 0x01 Holds data on different module specific data. Instance = 1 Attr. ID Access Name Data type Description 1 R Vendor ID UINT JVL vendor ID = 936 (0x3A8) 2 R Device Type UINT Value=10 3 R Product code UINT Value = 1 4 R Revision UINT Major = 1.byte, minor = 2. byte 5 R Status UINT Status 6 R Serial number DINT Serial number 7 R Product name STR “MAC00-EIx” See the EtherNet/IP spec. for further details section Vol2 sect.5-3. Supported Services 0x1 Get_Attribute_All 0x10 Set_Attribute_Single 0xE Get_Attribute_Single JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 77 4.2 4.2.3 Using none cyclic messages Assembly object class 0x04 Holds pre-configured motor registers to be accessed. Instances: 0x64 Write Data to motor register. 0x65 Read motor register data. Attr. ID Access Name Data type 3 R/W Get/Set Assembly 20 bytes 4 R Bytes UINT Description Get/Set all assembly data Bytes transferred in assembly Supported Services 0x10 Set_Attribute_Single 0xE Get_Attribute_Single This object can be used to access the predefined registers, configured from MacTalk. They are also accessed when using the implicit connection cyclically. If other registers than the one defined in the assembly object needs to be accessed then the class 0x64 needs to be used. This class accesses each register in the motor for a more dynamically way of controlling registers explicitly. The vendor specific class 0x64 is specified in details later in this chapter. 4.2.4 TCP/IP object class 0xF5 Holds data on different module specific data. Attr. ID Access Name Data type Description 1 0xE Status DINT Status bit-field 2 0xE Configuration capability DINT DINTbit field = 5 (BOOTP+DHCP) 3 0x10 Configuration control DINT Bit field = 0 (use NV-setup) 4 0xE Physical link object 6 bytes Size + path 5 0x10 TCP/IP settings 22bytes IP + sub net + GTW info e.t.c. 6 0x10 Host name DINT Host name See the EtherNet/IP spec. for further details section Vol2 sect.5-3. Supported Services 0x1 Get_Attribute_All 0x10 Set_Attribute_Single 0xE Get_Attribute_Single To change the IP address, Subnet mask or gateway. The object 0xF5, attr 5 is used. The data format consists of 22 bytes. Byte 0 - 3 : Byte 4 - 7 : Byte 8 - 11 : Byte 12 - 21 : IP Address, exc. 192.168.0.58 = 0x3A 0x0 0xA8 0xC0 Subnet mask, exc. 255.255.255.0 = 0x0 0xFF 0xFF 0xFF Gateway, exc. 192.168.1.1 = 0x1 0x1 0xA8 0xC0 Not used, must be set to 0x0 These settings can be read from the motor using the service 0xE, Get attribute single and the motor will return the 22 bytes of the current setting. Changing the settings can be done by using the service 0x10, set attribute single. 78 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.2 4.2.5 Using none cyclic messages TCP/IP object class 0xF6 Holds information for a IEEE 802.3 communication interface Attr. ID Access Name Data type Description 1 0xE Interface speed DINT Speed in Mbit/s 2 0xE Interface status DINT Bit field 3 0xE MAC-address 6 bytes MAC 4 -- Not Implemented -- -- 5 -- Not Implemented -- -- 6 0x10 Interface Control DINT Bit field See EtherNet/IP spec. for further details Vol2 sect. 5-4 Supported Services 0x1 Get_Attribute_All 0x10 Set_Attribute_Single 0xE Get_Attribute_Single 4.2.6 Vendor specific JVL object class 0x64 Holds pre-configured motor registers to be accessed. Instances 1 - 255 Motor registers Attr. ID Access Name 1 Get/Set register 0xE / 0x10 Data type Description DINT Get/Set the specified motor register Supported Services 0x10 Set_Attribute_Single 0xE Get_Attribute_Single ! Please notice: Please find a complete list of register descriptions in the appendex. Motor registers MAC050 - 141, page 200 and Motor registers MAC400 3000, page 209 and Motor registers MIS34x & 43x, page 226 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 79 4.2 Using none cyclic messages E.g. the motor shall be operated in velocity mode. This requires that the mode register 2 = 0x1. Velocity mode is 0x1, Position mode = 0x2 e.t.c. All modes of operation is further described in the servo manual. The explicit message is setup as follows. Package: Class: Service: Instance: Attribute: 0x64 0x10 (write data) 0x2 (mode register in the motor) 0x1 Data: 0x00 00 00 01 This will set the mode register in the motor into velocity -mode Motor Register 2 = 1 To read a value from the motor use the service code 0xE. After setting the motor into velocity mode it will start running. Now the actual velocity can be read while the motor is running. Package: Class: Service: Instance: Attribute: 0x64 0xE (Read data) 0xC (Actual velocity) 0x1 Now the response data is received: Data: 0x00 00 01 15 This value 0x115 (hex) is the decimal value 277 which corresponds to 100 RPM. This is the default velocity value. So basically the motor can be controlled and all needed data can be retrieved using explicit messages. This method is not suitable when data is needed fast and frequently for this purpose I/O messaging (Implicit messaging) is used. Not only motor registers are accessible using explicit messages, also static data such as serial numbers, network status etc. are accessible. These informations are accessible according to the EtherNet/IP standard and follows the implemented classes: 0x1, 0x4, 0xF5, 0xF6. These classes are explained in details in the EtherNet/IP standard (obtained from www.ODVA.org) and in For further info please See “Examples” on page 100. 80 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.2 4.2.7 Using none cyclic messages Vendor specific JVL object class 0x65 Holds pre-configured EthernetIP Module registers. Instances 1 - 63 EthernetIP module registers. Please see chapter 8 for a complete list with register descriptions. Attr. ID Access Name 1 Get/Set register 0xE / 0x10 Data type Description DINT Get/Set the specified motor register Supported Services 0x10 Set_Attribute_Single 0xE Get_Attribute_Single Example: The digital outputs need to be set. Package: Class Service Instance Attribute Data 0x65 (Access module registers) 0x10 (Write data) 0x07 (Digital outputs register in the module) 0x1 0x00 0x00 0x00 0x01 (Set the O1 output) This will set the O1 output in the EthernetIP module. Example: Read of digital inputs. Package: Class Service Instance Attribute Data 0x65 (Access module registers) 0x0E (Read data) 0x47 (Digital inputs register in the module) 0x1 0x00 0x00 0x00 0x03 The value 0x03 corresponds to IN1 and IN2 set. (The IN2-IN4 is only available in the MAC00-Ex41 modules). This method is not suitable when data is needed very fast and frequently. For this purpose I/O messaging (Implicit messaging) should be used. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 81 4.3 4.3.1 Using cyclic I/O-messages Cyclic messages. I/O messaging also referred to as Implicit messages is used when data is needed fast and frequent. That is fast dynamic changing data such as position, velocity, torque etc. It is mandatory to have the error/status register (register 35) as one of the slave to master registers. If not the motor will overrule the configuration and place register 35 anyway. These data is sent cyclic using the assembly class object 0x04. If module registers is placed in cyclic R/W, then the register number has to be calculated as follows: Register number = 65536 x sub index. Example: module command (sub-index 15) = 65536 x 15 = register 983040 When module registers (register numbers above 65535) are chosen, they have to be placed after the motor registers in the list of cyclic registers. The JVL assembly consists of 8I/O words that are freely configurable. This means that 8 input motor registers can be selected and another 8 motor registers for output purposes. The terms Input and output is considered from the scanner so input is data flowing from the motor to the scanner and output is vice versa. On the EthernetIP -tab in MacTalk these I/O’s are configured. NB! If an index is set to zero (No selection), then the following indexes is discarded. Thereby computing resources in the drive are released, which makes much faster cycle times possibly. Please see next paragraph. Here the actual position is transfered in the 1. word of data. The operation mode is written in the motor. TT3014GB All words are 4 bytes. In the example shown above the 5 read words (data read from the motor) are: Motor register 10 (Actual position) Motor register 12 (Actual velocity) Motor register 20 (Follow error) Motor register 16 (Motor load - mean) Motor register 35 (Error status) The actual motor position The actual velocity of the motor The actual follow error in the motor movement The load the motor is experiencing over time Bit-field that holds both error information and status of movements etc. The motor registers 35, 36, and 211 should NOT be inserted in the cyclic write list, as this may give unpredictable results. For clear of errors, reset of motor etc. please insert the module command register (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please Register Overview, page 172. 82 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.3 Using cyclic I/O-messages The 5 write registers are configured to hold the following data: Motor register 2 (Operating mode) Motor register 6 (Acceleration) Motor register 5 (Velocity) Motor register 7 (Torque) Motor register 3 (Requested position) 0=passive, 1=Velocity, 2=position etc The requested acceleration to be used. The requested Velocity to be used. The max. allowed Torque to be used The requested position if operating mode = 2 (position) Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 and Motor registers MAC400 - 3000, page 209 and Motor registers MIS34x & 43x, page 226 ! 4.3.2 Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request on the Ethernet. If operating with values lower than those listed, data loss will occur. No. of motor registers transmitted in each direction Motor series MAC050 to MAC141 Motor series MAC400 to MAC3000 Motor series MIS34x and 43x 1/1 2/2 3/3 4/4 5/5 6/6 7/7 8/8 4ms * 8ms * 12ms * 16ms * 20ms * 24ms * 28ms * 32ms * 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** 1ms ** * The minimum cycle times, is only valid if not sending any acyclic requests while in any operating mode. MODULE registers can be appended as the last registers in the list, at no extra timing cost. Motor register 35 shall be in the cyclic read list, as it is also used internally. ** Restrained by the EthernetIP protocol it self. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 83 4.3 4.3.3 Using cyclic I/O-messages Cyclic data in the PLC The complete list of Controller tags defined. Tt3027GB Write assembly 84 Read assembly JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.3 Using cyclic I/O-messages MacTalk IO assembly setup, seen in the controller tag list and read from the PLC when the connection has been established. MacTalk setup: Explanation 2 - Operating Mode = 2 (position mode) 10 - Actual Position = 200000 12 - Actual Velocity = 0 Cnt/s 169 - Actual Torque = 0 (1024 = 300%) 35 - Error Status = 524304 (no errors) Explanation TT3028GB 3 - Requested position = 200000 5 - Velocity = 8000 (8000 = 2820 RPM) 6 - Acceleration = 2 Cnt/s² (2 = 543 RPM/s²) 7 - Torque = 512 (512 = 150%) 0 - No Selection (value is not updated) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 85 4.4 4.4.1 Commissioning Necessary equipment To get started you will need the following equipment. ! • MAC motor with an EthernetIP module (MAC00-EIx) or a MISxxxxxxEIxxxx motor. • A PLC or master controller with EthernetIP interface and relevant software • A PC installed with MacTalk software in order to setup the MAC motor. • Relevant signal and low voltage cables such as Ethernet cable, 24V power cable, RS232 cable. Please also see the section Cable accessories, page 24. • A 24VDC supply able to deliver min.1000mA@24V pr. motor used. • Concerning AC high voltage supply for the MAC motor please refer to the general MAC motor user manual (LB0047-xx) The general MAC or MIS motor user manual can be downloaded from http://www.jvl.dk 86 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.4 4.4.2 Commissioning Indicator LED’s - description. The LED's are used for indicating states and faults of module. There is one power LED, two link/activity LED's (one for each Ethernet connector), and 2 status LED's. MAC Module Indicators and label overview MODule status indicator MIS Motor Indicators and label overview Power indicator NETwork status indicator MODule status indicator Line activity indicator (CN2) Line activity indicator (CN3) NETwork status indicator Power indicator MAC address (placed at front) Line activity indicators TT3043-02GB MAC address Hardware serial number Hardware serial number LED indicator descriptions - Covers both MAC and MIS. LED Text Colour Constant MAC / MIS off Constant on (Green) Blinking (Green) Constant on (Red) Blinking (Red) Blinking (Red/ Green) Flickering L/A IN / L2 Green No valid Ethernet connection. Ethernet is connected. - - - - Activity on line L/A OUT / L3 Green No valid Ethernet connection. Ethernet is connected. - - - - Activity on line MOD / L1 Red/ Green No power applied Module status OK Module not configured Major module fault Minor module fault Self test in progress - NET / ERR Red/ Green No IP address CIP conection established No CIP connection Duplicate IP address Connection timeout Self test in progress - PWR Green Power is not applied. Power is applied. - - - - Power is applied to module but no communication with motor Notes: Blinking: Flashing with equal on and off periods of 200ms (2.5Hz). Flickering: Rapid flashing with a period of approximately. 50ms (10 Hz). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 87 4.4 Commissioning 4.4.3 MacTalk Ethernet configuration The module is by default setup with the following Ethernet configuration: TT3022-02GB After adjusting all settings press “Apply and save“ for the settings to take effect and for permanently saving the setup. Information such as EtherNet/IP firmware version, MAC-address and module status is displayed in the “Status” -field. Notice that the MAC-address is unique for each module and can not be changed. A label at the front plate of the module also indicate the MAC-address. Basic use of MacTalk is described in the MAC-motor manual (lit. no. LB0047-xxGB) If DHCP is enabled, then make sure a DHCP server is available on the same local network. 88 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.4 Commissioning Setting up IP addresses and general usage of the Rockwell CompactLogix PLC with the software package Logix5000 is beyond the scope of this example. The following guideline is based on the JVL MAC400 motor with the factory setup. 1. Apply 24V, open MacTalk and setup the ethernet settings as required and the IO assembly (cyclic data setup) according to the following: 2. Press the “Apply and save” -button for permanent storage of the EthernetIP -settings. 3. Switch off the 24V supply while connecting the Ethernet cable to the switch/PLC. 4. Re-apply 24V set the PLC into “RUN” -mode.Now we should be able to control the motor. 5. Start by setting the profile data such as, Velocity, acceleration and Torque. According to the following: Explanation 3 - Requested position = 200000 5 - Velocity = 8000 (8000 = 2820 RPM) 6 - Acceleration = 2 Cnt/s² (2 = 543 RPM/s²) 7 - Torque = 512 (512 = 150%) 0 - No Selection (value is not updated) TT3031GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 89 4.4 Commissioning 6. Now we will set the motor into an active mode (position mode), find the Controller tag “Mode” enter 2, find the tag “Set_Mode” enter 1. Now the motor is active and will start moving to the entered position in the “Servo_1:O_Data[0]” which is assigned to the requested position register in the motor. When the motor reaches the position it will stop and hold this position. From MacTalk the actual mode (see the status-panel) is changed from “Passive” to Position and the motion progress can be followed. Remember to change the “Set_Mode” tag back to 0 to stop the sending of Msg2 -messages. Logix 5000 tag list MacTalk status bar Changing the “Servo_1:O_Data[0]”-tag will result in an immediate repositioning of the axle in the motor. This value is defined in the IO assembly and is interchanged cyclic. To stop the motor set “Mode” = 0 and set “Set_Mode” = 1 to apply the mode setting. Reset “Set_Mode” to 0 again to stop sending Msg2. -messages. 7. To activate the explicit message Msg1 set the commanded position to a far greater value. For example 200000000 as illustrated below. TT3032GB 8. Find the “Read_Pos” -tag and set this to 1. Now the current position of the motor is seen in the “Actual Position” -tag. 90 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.4 4.4.4 Commissioning How to setup a Rockwell RSLogix5000 Project. After creating a new project in the RSLogix5000 application the JVL motor must be added to the Ethernet bus-system in the project. This is done by right clicking the “Ethernet-Module” icon in the project manager as illustrated below: Select “New Module” and the following screen appears: Expand the “Communications” - list. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 91 4.4 Commissioning Find and select the “Generic Ethernet module”. TT3048-01GB Now the module parameter needs to be entered. Fill in the information as illustrated below: TT3049-01GB The IP-address illustrated is the factory default and may be changed according to the local settings. After pressing “Ok” the JVL motor is added to the project and can now be reached by the PLC. ! 92 A demonstration video showing how to set-up the system can be seen using this link: http://www.jvl.dk JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.5 4.5.1 Implementation guidelines Introduction The following chapters describe the typical usage of the JVL Motor and which registers to use in the different applications. The chapter should be considered as a general guideline to get started with the EthernetIP integration of the JVL Motor. ! IMPORTANT!: Please notice that the motor will be active and may start moving when the mode register (reg. 2) is set to anything than 0 (passive mode). The MAC400, 800, 1500 and 3000 will require AC supply in order to be active. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 93 4.5 4.5.2 Implementation guidelines Running Velocity control To use the JVL motor in velocity mode the following registers are basically of interest. 1. 2. 3. 4. “Mode” - Mode register 2 “V_SOLL” - Velocity register 5 “A_SOLL” - Acceleration register 6 “Error/Status” - Error and status register 35 So, to control these registers the assembly object needs to configured. From MacTalk the setup is configured as this. The actual velocity is transferred in the 1. word The 5. word holds the data from the error/status register. This data is a bitfield structure holding both motion related information and present error type. The operation mode is set in the 1. Word, 0=passive mode and 1=Velocity mode. Use passive mode to stop the motor and velocity mode to start the motor. The requested velocity is set in the 3. word The requested acceleration is set in the 5. word TT3016GB With the settings illustrated above we initiate the velocity mode by writing 0x1 to the first word-value, this is velocity mode. From the scanner the registers is accessed using the assembly object and accessing the registers R/W on words 1-5. 1. Set the needed velocity. V_SOLL = V x 2.77 [rpm] Ex. We need the motor to run with a constant speed of 1200 RPM. So, V_SOLL = 1200/2,77 = 433 counts/sample 2. Set the needed acceleration. A_SOLL = A x 271 [RPM/s²] Ex. We need the motor to accelerate with 100000 RPM/s² so, A_SOLL = 100000/ 271 = 369 counts/sample². 3. Now set the motor into velocity mode and thereby activate the motor. Ex. The motor needs to be activated by setting it into velocity mode, so we need to set the mode register to the value 1. Mode = 1 which is velocity mode, now the motor will use the acceleration and the velocity just configured. Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 and Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226 94 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.5 4.5.3 Implementation guidelines Running Position control Running the motor in position control requires that the mode register is set for position control. The following registers is of particular interest when position mode is used. 1. 2. 3. 4. 5. 6. 7. 8. “Actual position” -P_IST, register 10 “Actual velocity” -V_IST, register 12 “Follow error” - The actual position error, register 20 “Motor load mean” - average motor load, register 16 “Error/Status” -register 35 “Requested position” -P_SOLL, register 3 “Requested velocity” -V_SOLL, register 5 “Requested acceleration” -A_SOLL, register 6 In this mode the position is controlled by applying a requested position to the “P_SOLL” -register and the actual position is monitored in the “P_IST” register. The V_SOLL and A_SOLL registers sets the velocity and acceleration used when the positioning occurs. 10 Actual position, P_IST value is sent back in this word 12 Actual velocity, V_IST is sent back in this word 20 Follow error, the position error 16 Motor load mean. The mean load on the motor 35 Error/Status holds information regarding motion status and error status/code if any 2 Operating mode is used to enable/disable the motor Values: Passive mode = 0 Position mode = 2 TT3017GB 4.5.4 3 Requested position, Sets the P_SOLL value. 5 Velocity, sets the V_SOLL requested velocity value The resolution is 100 RPM = 277 counts/sample 6 Acceleration, requested acceleration 0 Not used - Any register can be inserted here Error/status handling. The register 35 in the motor holds information on the actual error/status. So it is crucial that this register is configured in the assembly object and thereby obtained and monitored in the scanner. In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the I/O -data. This register also holds information on the motion status such as: - In position, bit 4 - Accelerating, bit 5 - Decelerating, bit 6 Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 and Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. The JVL motor is basically put into a working mode and into a passive mode where the motor axle is de-energized, by setting register 2 into either 0 = “passive mode” or into one of the supported modes. Example. 1= “Velocity mode” / 2= “Position mode” / etc. So in order to Stop or Start the motor this register can be supported in the I/O data or by sending an explicit message. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 95 4.6 Configuration with explicit messages Basically a JVL motor works by loading a configuration into RAM memory from the none volatile flash memory when 24V power is applied and the motor is initialized. The motor only holds one configuration and this configuration can be stored into the NV flash memory. Several approaches can be used to configure the motor with data and finally saving them permanently in the NV flash. A very general approach could be by using the PC-based software tool MacTalk, which offers both basic motor setup and control and the possibility to save all parameters in a separate file for backup purposes. This software package utilizes the serial or network connection to communicate with the motor from any standard Windows PC. Configuration over EtherNet/IP is possible by using explicit messages to address each register to be setup and then command the motor to save the configuration in flash afterwards for permanent storage. Using this method the motor only needs to be setup once and is easy achievable from the scanner itself either as an initialization routine each time the PLC initializes, and thereby avoiding the permanent storage in the motor or simply using a configuration routine that sends the required explicit messages to address the needed registers followed by the message to save the settings permanently. IP-address and other network settings still needs to be setup using MacTalk. E.g. Setting up a motor sending messages explicitly We want to change the default motor settings and save them permanently into flash. The following registers needs to be saved: The registers needed to be addressed are: Velocity (V_SOLL) = Register 5 Acceleration (A_SOLL)= Register 6 Torque (T_SOLL) = Register 7 To address individual registers explicitly we use the class 0x64 for the purpose. 96 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors Configuration with explicit messages First we change the Velocity setting, we want the motor to spin with 1000 RPM. The message for addressing V_SOLL is formed: TT3018GB We need to scale 1000 RPM to the correct value in the motor the factor is 1 RPM = 2.77 counts/sample so we need to send the value 2770 = 0x00000AD2. The instance refers to the register number, so we need to set instance to 5 (V_SOLL) Please notice that the value is represented as 32bit. Next we set the acceleration to be used. We need the acceleration to be 20000 RPM /s2 This value also needs to be scaled, the factor is 1 RPM/s² = 0.0036 counts/sample² so, in order to reach 20000 we need to send the value 72 = 0x00000048. Acceleration is instance 6 (A_SOLL). TT3019GB 4.6 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 97 4.6 Configuration with explicit messages TT3020GB Then configure the maximum motor torque to be used. The motor can reach a peak torque of 300% the rated value. This value corresponds to 1023 in the register. We need 25% so we write 255 = 0x000000FF to instance 7 (T_SOLL). TT3021GB And finally we send the command that saves the settings permanently in flash. This is basically a matter of writing the “save in flash” command to the command register 211 in the motor. The command is 2 and the instance is 211 = 0xD3. Value = 0x00000002. Now the motor saves the setting and resets. It is required to toggle the 24V power in order to do a internal synchronization. 98 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.7 Using and Selecting an Ethernet switch Depending on the network size and requested package interval (RPI) a suitable switch must be used. Also if multiple separated networks needs to be connected a switch is used. Depending on the actual size of the network different requirements needs to be meet. Generally using EtherNet/IP with a fair package interval a 1 Gbps switch is typical adequate along with the following features: • Auto negotiation, full duplex 100 MBit • Port mirroring for network analysing and troubleshooting purposes. This feature makes it possible to route traffic out on a separate port connected to a network analyser for debugging purposes and general performance monitoring. The JVL EthernerNetIP module has a small build in 2 port switch useful if a small amount of motors is connected in a daisy chaining topology. The disadvantage of this approach is that the package RPI timing is reduced as each motor needs to handle the incoming traffic for the other motors connected on the line. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 99 4.8 4.8.1 Examples Rockwell RSLogix example 1. This is a simple example demonstrating the usage of both explicit messages and IO-assemblies to control a JVL MAC400 servo motor. This example holds a few tags to control the inputs and outputs and a 3 rung ladder program to demonstrate the explicit message usage. With this example it is possible to control the positioning of the motor using the “Position -mode” and set profile data such as velocity, acceleration and torque parameters using the IO-assembly. The example is developed for use on a CompactLogix L23E PLC using the Rockwell Logix500 software package and MacTalk from JVL. The JVL MacTalk application is used to setup the IO assembly to fit the example. Although this example expects default setup in the JVL motor, the IO assembly needs to be setup according to the following MacTalk setup (located at the EthernetIP tab). PLC Motor PLC TT3023GB Motor The fixed sized assembly instances is divided into 5 read words and 5 write words. 4.8.2 The RSLogix ladder program. 3 different messages for both setting data and retrieving data from the motor. All 3 messages are triggered by separate variables from the controller tag-list. TT3024GB 100 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.8 4.8.3 Examples Message descriptions. Msg1 reads information from the motor and is setup in the following way: Reads (GET_ATTRIBUTE_SINGLE) the actual position register in the motor (instance 10) and stores the 4 byte value in the “ACTUAL POSITION” tag. Register 10: “actual position” Stores the value into this tag TT3025GB Please notice the mixed decimal and hexadecimal notation used. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 101 4.8 Examples Message 2 and 3 (Msg2, Msg3) are writing values to specific registers in the motor. They are configured in the following way: Writes (SET_ATTRIBUTE_SINGLE) the value from the “MODE”-tag into the motor register 2 (Operation mode). Register 2: “actual mode” 4 byte tag value to write in register 2 (mode register) Tt3026GB Please notice the mixed decimal and hexadecimal notation used. Explicit messages are always 4 bytes long and uses Class 0x64 to access the internal motor registers. The instance refers to the actual motor register. Instance = 2 points to the motor active mode -register. Explicit messages are typical used for configuration purpose or for rare data update situation that does not require a cyclic update timing. 102 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.8 4.8.4 Examples Homing using only cyclic I/O (JVL profile). When doing a homing (Zero search), with only cyclic I/O, some preconditions have to be met: Zero search position, zero search velocity and zero search torque (torque only for MAC motors) has to be set in MacTalk in the "Main" tab, and saved in flash in the motor once and for all. TT3083GB Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 103 4.8 Examples Register 2 (Operating mode) has to be present in BOTH the cyclic read words and cyclic write words. TT3085GB Procedure in the PLC: • Treat the transmitted Register 2 as "Requested_Mode" and the received register 2 as "Actual_Mode". • When homing is wanted, set the "Requested_Mode" to one of the values 12, 13 or 14 depending of the requested homing mode (12 = Torque based zero search mode (only MAC motors). 13 = Forward/only zero search mode. 14 = Forward+backward zero search mode (only MAC motors) .). For a comprehensive description of the homing modes, refer to the general MAC motor manual LB0047-xxGB. • Observe that the "Actual_Mode" is changing to the homing mode. Now the module is blocking cyclic writes TO the motor. Cyclic reads is still active. • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. 104 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 4.8 4.8.5 Examples Relative positioning. There are a number of ways to do relative positioning, but the one explained here is very simple, and can be used with a constant distance, or exchangeable distance, to move every time it is requested. Preconditions: Place the module command register (register 983040 in MacTalk) in the cyclic write list. The cyclic setup, could for example look like this: TT3086GB Procedure in the PLC: 1. Set up register P7 in motor to requested relative offset. 2. Make sure one net cycle has passed, so P7 resides in the motor. 3. Issue command 0x800000F1 (0x80000071 if the MISxxxxxxEIxxxx motor is used) in module command register (register 983040 in MacTalk). 4. Make sure one net cycle has passed, so command is interpreted by the motor. 5. Set module command register to zero. This will prepare the Ethernet module for new commands. 6. If needed then monitor register 35 (Error status): When bit 4 is set (in position), then the move is finished. 7. When a new relative move is requested, go to step 3. You may also have the P7 register in the cyclic write list, thereby enabling easy change of the relative distance to move. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 105 4.9 ODVA Conformance Certificate TT3091-01GB 106 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5 POWERLINK® Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 107 5.1 Introduction to POWERLINK® MAC Powerlink Module Type: MAC00-EL4 (shown) or MAC00-EL41 (extended I/O) To be used in following servo products: MAC50, 095, 140 and 141 MAC400 and MAC402 MAC800 MAC1500 and MAC3000 MIS Powerlink motors. Type: MIS34xxxELxx85 or MIS43xxxELxx85 To be used in following stepper products: - Integrated from factory TT3044-02GB 5.1.1 108 Introduction. Ethernet Powerlink (EPL) is a proven technology, working in real applications worldwide. It embraces standard Ethernet technology and infrastructure, uses standard CAT5 shielded cabling and does not compromise standard Ethernet frames in order to achieve its results. Ethernet Powerlink is a truly open technology independently managed by the Ethernet Powerlink Standardization Group (http://www.ethernet-powerlink.org). Powerlink operates as a protected segment by design, and connects to a none-deterministic Ethernet network via a gateway/router device. This gateway acts as a defensive barrier against attacks by providing fire wall security measures. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.1 Introduction to POWERLINK® Unlike standard Ethernet, the Slot Communication Network Management (SCNM) ensures that only one node is accessing the network at a time. The schedule is divided into an isochronous phase and an asynchronous phase. During the isochronous phase, timecritical data is transferred, while the asynchronous phase provides bandwidth for the transmission of data that is not time-critical. The Managing Node (MN) grants access to the physical medium via dedicated poll request messages. As a result, only one Controlled Node (CN) has access to the network at a time, and thus no collisions occur. Ethernet POWERLINK applies the same protocol technology as CANopen. It defines SDOs (Service Data Objects), PDOs (Process Data Objects) and the Object Dictionary structure to manage the parameters. For general technical data please see Powerlink for MAC or MIS - Technical specifications, page 197. Legacy ethernet EPL Router (Gateway) MN CN CN CN Ethernet hub TT3033GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 109 5.1 5.1.2 Introduction to POWERLINK® Abbreviations Following general used terms are useful to know before reading the following chapters. 100Base-Tx ASnd CAN CANopen CN EN EMCY EPL EPSG ID IP MAC MacTalk MN NAT NMT PDO PReq PRes SCNM SDO SoA SoC TCP UDP XDD XML 110 100 MBit Ethernet on twisted pairs Asynchronous Send (POWERLINK frame type) Controller Area Network Application layer protocol used in automation. Controlled Node (slave on Ethernet Powerlink network) Exception New (flag in POWERLINK frame) Emergency Object. Ethernet PowerLink Ethernet PowerLink Standardisation Group Identifier Internet Protocol - IP address ~ the logical address of the device, which is user configurable. Media Access Controller - MAC address ~ the hardware address of the device. A windows PC based program supplied from JVL. This is an overall program to install, adjust and monitor the function of the motor and a module installed in the motor. Managing Node (master on Ethernet Powerlink network) Network Address Translation (used in EPL router, to reach destinations outside EPL segment) Network Management Process Data Object (for cyclic data) Poll Request. A frame used in the isochronous phase of the cyclic communication. With Poll Request, the MN requests the CN to send its data. Poll Response. A frame used in the isochronous phase of the cyclic communication. The CN responses with a Poll Response frame when it receives a Poll Request from the MN. Slot Communication Network Management; In a POWERLINK network, the MN allocates data transfer time for data from each node in a cyclic manner within a guaranteed cycle time. Within each cycle there are slots for Isochronous Data, and for Asynchronous Data for ad-hoc communication. The SCNM mechanism ensures that there are no collisions during physical network access in any of the net worked nodes thus it provides deterministic communication via Legacy Ethernet. Service Data Object (for acyclic data) Start of Asynchronous (POWERLINK frame type) Start of Cyclic (POWERLINK frame type) Transfer Control Protocol (an IP based protocol used widely on the internet) User Datagram (an IP based protocol used widely on the internet) File extension for the device description file. Extensible Markup Language - used for the device description file. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.2 Ethernet Powerlink communication In an Ethernet POWERLINK network, one of the nodes, for example a PLC, is designated to function as the MN, the master in the network. All other devices operate as CNs, slaves in the network. The MN defines the clock pulse for the synchronization of all devices and manages the data communication cycle. In the course of one clock cycle within which all nodes are addressed, the MN sends Poll Requests (PReq) to all CNs, one after another. They reply immediately to the prompts with Poll Responses (PRes). The following time phases exist within one cycle: - Isochronous phase - Asynchronous phase - Idle phase The MN first sends a Start of Cycle Frame (SoC) signal to all CNs to synchronize the devices. Payload data exchange then proceeds in the isochronous phase. The asynchronous phase, allows the transfer of large packets that are not time-critical, for example parameterisation data or transfer of IP-based protocols like TCP or UDP. The Idle phase can be 0. It's possibly for the MN to multiplex the time slots in the isochronous phase, in order to service some CN's more often than others. During system start-up the MN applies a reduced POWERLINK cycle, without the isochronous phase, in order to configure the CNs with SDO communication. For further information, please refer to the Ethernet POWERLINK communication profile specification “EPSG_DS_301_V-1-1-0_01.pdf”, available at the EPSG website http:// www.ethernet-powerlink.org. Managing Node Asynchronous Phase Isochronous Phase SoC PReq PReq to CN 1 PReq to CN 2 PRes to CN n from MN PRes PRes PRes from CN 1 from CN 2 from CN n SoA Idle Phase 5.2.1 Protocol specifications Async. send Controlled Node Powerlink cycle PRes SoC Start of Cyclic : PReq Poll Request : SoA Start of Acyclic : Poll Responce : Async. send Async data : to CN n PRes from CN 1 Sent from MN, multi-cast to all Controlled Nodes Sent from MN, uni-cast to each Controlled Node Sent from CN, multi-cast to all nodes from MN Poll Responce : Sent from MN, multi-cast to all nodes Sent from MN, multi-cast to all Controlled Nodes Sent by any CN, invited by Managing Node TT3035GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 111 5.2 5.2.2 Protocol specifications Ethernet POWERLINK® frame structure POWERLINK messages are encapsulated in Ethernet II frames. The length of the frame is restricted to the configured size, in order to guarantee the cycle time. Ethernet frames have a minimum length of 64 bytes and a maximum of 1518 (exclusive preamble). The Ethernet POWERLINK header contains only 3 bytes. Message type, destination ID and Source ID. That leaves up to 1497 bytes of payload. POWERLINK header 8 bytes 14 bytes 1 byte Preamble Ethernet header Message type 1 byte Dest. ID - 43 - 1497 bytes 4 bytes 1 byte Source ID Data Checksum TT3036GB 5.2.3 Ethernet POWERLINK CN State machine In Ethernet POWERLINK, a Controlled Node starts up by a common initialization process. All the states are valid when the device is powered and they are sub-states of the NMT_GS_POWERED superstate. NMT_GS_INITIALISATION After system start, the device automatically assumes this state and network functionality begins. NMT_GS_INITIALISATION and all its sub-states are only internal states of the device. In the NMT_GS_RESET_CONFIGURATION sub-state, the node address of the device is identified and it is determined whether it is configured as a MN or CN. The JVL MAC00-ELx is a CN and thus, it enters the NMT CN state machine in the NMT_GS_COMMUNICATING super-state. NMT_GS_COMMUNICATING NMT_CS_NOT_ACTIVE This is a none-permanent state that allows a starting node to recognize the current network state. Time out for SoC, PReq, PRes and SoA frames trigger the device to enter state NMT_CS_BASIC_ETHERNET. The NMT_CS_PREOPERATIONAL_1 Transition from NMT_CS_NOT_ACTIVE to NMT_CS_PRE_OPERATIONAL_1 is triggered by a SoA or SoC frame being received. In this state CN may send a frame only if the MN has authorized it to do so by a SoA command. There is no PDO communication in this state. Receiving a SoC frame triggers the transition from NMT_CS_PREOPERATIONAL_1 to NMT_CS_PREOPERATIONAL_2. The NMT_CS_PREOPERATIONAL_2 In this state PReq and PRes data may be invalid because PDO mappings may differ. In NMT_CS_EPL_MODE, error recognition (for example, loss of SoC or PReq) always triggers the transition to NMT_CS_PREOPERATIONAL_1. The NMT_CS_READY_TO_OPERATE In this state, the CN signals that it is ready to operate to the MN. It responds to the PReq query of the MN by sending a PRes frame. The NMT_CS_OPERATIONAL NMT Start Node command triggers the transition from NMT_CS_READY_TO_OPERATE to the NMT_CS_OPERATIONAL. This is the normal operating state of the CN. 112 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.2 Protocol specifications The NMT_CS_STOPPED This state is used for controlled shutdown of a selected CN while the system is still running. In this state, the CN does not participate in cyclic frame exchange, but it still observes SoA frames. NMT_GS_ INITIALISATION NMT_CS NMT CN State Machine NMT_CS_ NOT_ACTIVE NMT_CS_ BASIC_ETHERNET NMT_CS_EPL_MODE NMT_CS_ PRE_OPERATIONAL_1 Error condition NMT_CS_ PRE_OPERATIONAL_2 NMT_CS_ READY_TO_OPERATE NMT StartNode NMT_CS_ OPERATIONAL NMT StopNode NMT_CS_ STOPPED TT3037GB Communication type No communication Listen only Legacy Ethernet POWERLINK Reduced cycle POWERLINK Cycle JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 113 5.2 5.2.4 114 Protocol specifications Application layer communication The application layer communication protocol in Ethernet POWERLINK is based on the CANopen DS 301 communication profile. The protocol specifies the Object Dictionary in the adapter module, in addition to communication objects for exchanging cyclic process data and acyclic messages. The MAC00-ELx module uses the following message types: - Process Data Object (PDO). The PDO is used for cyclic I/O communication, in other words, process data. - Service Data Object (SDO). The SDO is used for much slower acyclic data transmission. - NMT response services. Used for identity and status signalling during start-up and runtime. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.3 5.3.1 Commissioning Indicator LED’s - description. The LED's are used for indicating states and faults of module. There is one power LED, two link/activity LED's (one for each Ethernet connector), and 2 status LED's. MAC Module Indicators and label overview General status indicator MIS Motor Indicators and label overview Power indicator Error indicator General status indicator Line activity indicator (CN2) Line activity indicator (CN3) Error indicator Power indicator MAC address (placed at front) Line activity indicators TT3045-02GB MAC address Hardware serial number Hardware serial number LED indicator descriptions - Covers both MAC and MIS. LED Text Colour Constant Constant Blinking MAC / MIS off on No valid Ethernet connection. No valid Ethernet connection. Ethernet is connected. Ethernet is connected. L/A IN / L2 Green L/A OUT / L3 Green STATUS / L1 Green NMT_CS_ NMT_CS_N OPERAOT_ACTIVE TIONAL Red No error Green Power is applied to Power is not both motor applied. and module. ERROR / ERR PWR Single flash Double flash Triple Flickering flash - - - Activity on line - - - Activity on line NMT_CS NMT_CS NMT_CS _PREOP _PREOP _STOPP ERATION ERATION ED AL1 AL2 NMT_CS NMT_CS_B _READY ASIC_ETHE _TO_OP RNET ERATE Error Booting error Power is applied to module but no communication with motor. Notes: Blinking: Flashing with equal on and off periods of 200ms (2.5Hz). Single flash: Repeating on for 200ms and off for 1s. Double flash: Two flashes with a period of 200ms followed by 1s off period. Triple flash: Two flashes with a period of 200ms followed by 1s off period.Flickering: Rapid flashing with a period of approximately 50ms (10 Hz). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 115 5.3 Commissioning 5.3.2 Mechanical installation The network cables must be connected to the two M12 connectors (marked “L/A IN” and “L/A OUT”) at the MAC module and “CN2” and “CN3” at the MIS motors. The cable from the MN is connected to either of the two ports. In the line topology, if there are more slave devices in the same line, the next slave device is connected to the second port. If there is a redundant ring, the second port of the last slave device is connected to the second port of the MN. See also the illustration in the chapter Introduction., page 108 Standard CAT 5 FTP or STP cables can be used. It is not recommended to use UTP cables in industrial environments, which is typically very noisy. 5.3.3 Quick start This section describes the steps to configure the PLC, B&R X20 CP1485, with B&R Automation Studio PC software, so that it can be used to control the drive. Set node ID 1. Connect the RS232 communication cable. 2. Apply power to the motor, and make sure the PWR LED is lit. 3. Open MacTalk and select the “MAC00-EL (Powerlink)” tab. 4. Change the last number in the IP address (= node ID), to one that doesn't conflict with other devices on the sub net. 5. Press “Apply and save”. Installation 6. Connect an Ethernet RJ45-M12 cable to IF3 on the X20 and to L/A IN or L/A OUT at the MAC00-ELx module or the “CN2” and “CN3” at the MIS motors. 7. Connect power to the X20, and communication cable from the PC with B&R Automation Studio installed to the X20 PLC (either Ethernet or RS232). 8. Make sure power is applied to all devices. PLC configuration 9. Create a new project in Automation Studio for your PLC, or open an existing project. See B&R documentation for more information. 10. In the Project Explorer window, open the Physical View tab 11. Right-click the node representing the CPU (in this example, X20CP1485-1), and in the pop-up menu, select Open IF3 POWERLINK Configuration. The POWERLINK Configuration window is opened. 12. Make sure that “Activate POWERLINK communication” is set to “on”. 13. Close the window and save changes. Add the XDD file (contains info on the capabilities of the device) 14. In the Tools menu of Automation Studio, select Import fieldbus device... 15. In the Open window find and select the "00000117_MAC00-ELx.xdd" file, and click Open. This link can be used : http://www.jvl.dk/default.asp?Action=Details&Item=428 (continued next page) 116 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.3 Commissioning Associating with MAC00-ELx 16. In the physical view of the project explorer window, right click the CPU node and click Open POWERLINK in the pop-up menu. 17. Right click IF3 in the opened CPU POWERLINK window, and click Insert in the popup menu. 18. Select "MAC00-ELx", situated under POWERLINK devices, and click Next. 19. Enter the node ID of the device (set earlier with MacTalk) and optionally a name, and click Next. 20. The "MAC00-ELx" should now be visible in the physical view of the project explorer window. Building project and transfer to PLC 21. Select Build configuration in the Project menu. 22. When the build is finished then click the Transfer button. 23. There may appear a warning. Just ignore and click OK. Investigating cyclic data 24. Right click "MAC00-ELx" in the physical view of the project explorer window and click Open I/O Mapping. 25. In the View menu click Monitor. 26. You should now be able to see the cyclic I/O registers like in the below picture. 27. If Force is checked for the cyclic outputs, then it's possibly to set register values in the Force Value column that is transferred to the motor. Start motor 28. If the default register settings is not changed it is possibly to start motor by entering values in the Force Value column. 29. Enter 1023 in OUT_FourthEntry (Torque = 300%). 30. Enter 1000 in OUT_ThirdEntry (477 RPM if MAC140). 31. Enter 1 in OUT_FirstEntry (Mode = Velocity). TT3034GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 117 5.4 5.4.1 Ethernet POWERLINK objects Process data objects PDO's (Process Data Objects) are used for cyclic transfer of time-critical process data between master and slaves. Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave. PDO 21 PDO 21 is fully user configurable. There is one receive PDO and one transmit PDO. It is possibly to set up five, 32 bit registers in each direction. The setup is done with MacTalk or via SDO object 0x2011 subindex 16-31. It requires a save in flash and a power cycle before the new configuration are used. If the configuration of the PDO's, is not altered by the user, the MAC00-ELx uses the default mapping shown in the tables below. If module registers is placed in cyclic R/W, then the register number has to be calculated as follows: Register number = 65536 x sub index. Example: module command (sub-index 15) = 65536 x 15 = register 983040 When module registers (register numbers above 65535) are chosen, they have to be placed after the motor registers in the list of cyclic registers. NB! If an index is set to zero (No selection), then the following indexes is discarded. Thereby computing resources in the drive are released, which makes much faster cycle times possibly. Please see next paragraph. Default registers in transmit PDO 21 (Slave > Master) / Read words in MacTalk Object index Register no. 0 1 2 3 4 2 10 12 169 35 Motor register short Motor register description MODE_REG P_IST V_IST VF_OUT ERR_STAT Operating mode Actual position Actual velocity Actual torque Status bits The motor registers 35, 36, and 211 should NOT be inserted in the cyclic write list, as this may give unpredictable results. For clear of errors, reset of motor etc. please insert the module command register (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please Register Overview, page 172. Default registers in receive PDO 21 (Master > Slave) Object index Register no. 0 1 2 3 4 2 3 5 7 - ! 118 Motor register short Motor register description MODE_REG P_SOLL V_SOLL T_SOLL - Operating mode Target position Maximum velocity Maximum torque - Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.4 5.4.2 Ethernet POWERLINK objects Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request (PDO) on the Ethernet. If operating with values lower than those listed, data loss will occur. No. of motor registers transmitted in each direction Motor series MAC050 to MAC141 Motor series MAC400 to MAC3000 Motor series MIS34x and MIS43x 1/1 2/2 3/3 4/4 5/5 4mS * 8mS * 12mS * 16mS * 20mS * 360µS * 395µS * 430µS * 465µS * 500µS * 360µS * 395µS * 430µS * 465µS * 500µS * * The minimum cycle times, is only valid if not sending any SDO requests while in any operating mode. MODULE registers can be appended as the last registers in the list, at no extra timing cost. If motor register 35 is not in the list it will be added internally anyway, and has to be added to the minimum cycle time with 2.0ms if MAC050MAC141, and with 30µs if MAC400-MAC3000 or MISxxxxxELxxxx. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 119 5.4 Ethernet POWERLINK objects 5.4.3 Service Data Objects Service Data Objects (SDOs) are mainly used for transferring non time-critical data, for example, identification, configuration and acyclic data. 5.4.4 Object Dictionary An important part of the protocol is the Object Dictionary, which is different objects specifying the data layout. Each object is addressed using a 16-bit index and possibly a sub index. There are some mandatory objects and some manufacturer specific objects. The objects in the Object Dictionary can be accessed with SDO services. Mandatory objects: Name Index (hex) Sub Index Data Type Read only Default 0x0 Device type 1000 UNSIGNED32 X Error Register 1001 UNSIGNED8 X 0 1 2 3 4 5 6 7 Identity object 120 1018 IDENTITY X 0 1..4 X 0x04 1 UNSIGNED32 X 0x0117 2 UNSIGNED32 X 0x0200 3 4 UNSIGNED32 UNSIGNED32 X X - Description Contains information about the device type. This is the mapping error register, and it is part of the emergency object. If some of the sub index are high, an error has occured. Generic error. Mandatory Current Voltage Temperature Communication (Overrun) Device profile specific Reserved Manufactor specific Contain general information about the module Number of entries. Mandatory Vendor ID, contains a unique value allocated to each manufactor. 117h is JVLs vendor ID. Mandatory. Product Code, identifies a specific device version. The MAC00-EL4/-EL41 has the product code 200h Revision number. Serial number JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.4 5.4.5 Ethernet POWERLINK objects Manufacturer specific objects. The manufacturer specific objects, provides access to all module registers, and all motor registers, as well as a module command object. Index (hex) Sub Index Type Module command 2010 0 UNSIGNED32 Module parameters 2011 0 UNSIGNED8 X UNSIGNED32 X - X 254 1 Motor parameters 2012 0 UNSIGNED8 N UNSIGNED32 Read only Default Description Module command object. See possible commands below. 63 Subindex count Access to module register N Subindex count Access to the motor parameter n Note: Module parameters are not automatically saved to permanent memory after a change. The parameters can be saved permanently by applying a "Save parameters to flash" command afterwards. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 121 5.4 Ethernet POWERLINK objects 5.4.6 Object 0x2010 - Subindex 0 This object is used for sending commands to the module and is write only. The possible commands are listed in the table below. This object is used for sending commands to the module and is write only. It is analogue to writing to object 2011 subindex 15. See the description 8.2 Register Descriptions., page 177. 5.4.7 Object 0x2011 The module registers is mapped to object 0x2011. The subindex 3, 6-31 is R/W, the rest is read only. The register numbers are used as sub indexes in the object. See register descriptions in chapter 8 - 8.2 Register Descriptions., page 177 5.4.8 Object 0x2012 Object 0x2012 are for acyclic view or change of motor registers. Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 or Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. 122 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.5 Network Management Services Ethernet POWERLINK Network Management (NMT) is node oriented and follows a master/slave relationship. The MAC00-ELx or MISxxxxxxELxxxxx is administered as an NMT slave by the master. Ethernet POWERLINK defines five categories of NMT services: • • • • • NMT State Command Services NMT Managing Command Services (not supported) NMT Response Services NMT Info Services (not supported) NMT Guard Services (not supported) NMT State Command Services The MN controls the state of the CN via NMT State Command Services. See section Ethernet POWERLINK state machine for more information. NMT Response Services NMT Response Services are used by the MN to query NMT information from the CN, such as current state, error and setup data. Ethernet POWERLINK specifies the following NMT Response Services: • NMT State Response • IdentResponse • StatusResponse Via NMT State Response service, the CNs signals their states to the MN. IdentResponse Service is used by the MN to identify configured but unrecognized CNs at system startup or after loss of communication. See Appendix: IdentResponse Frame for more information. The StatusResponse Service is used by the MN to query the current status of CNs that is not communicating isochronously. It is used for error signaling in runtime. If an error occurs, the EN (Error New) flag in the PRes frame is toggled. This notifies the MN that an error has occurred and the MN polls the CN for a StatusResponse that includes error information. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 123 5.6 XML Device Description File XML Device Description Files (XDD) are XML files that specify the properties of the slave device for the Ethernet POWERLINK master (MN). The description files contain information on the supported communication objects. XDD files for JVL Drives are available through your local JVL representative and http://www.jvl.dk. 124 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.7 5.7.1 Examples Running Velocity control To use the JVL motor in velocity mode the following registers are basically of interest. 1. 2. 3. 4. "Mode" - Mode register register 2 "V_SOLL" - Velocity register 5 "A_SOLL" - Acceleration register 6 "Error/Status" - Error and status register 35 So, to control these registers the cyclic data needs to configured. From MacTalk the setup is configured as this. The actual velocity is transferred in the 1. word The 5. word holds the data from the error/status register. This data is a bitfield structure holding both motion related information and present error type. The operation mode is set in the 1. Word, 0=passive mode and 1=Velocity mode. Use passive mode to stop the motor and velocity mode to start the motor. The requested velocity is set in the 3. word The requested acceleration is set in the 5. word TT3016GB With the settings illustrated above we initiate the velocity mode by writing 0x1 to the first word-value, this is velocity mode. From the Master the registers is accessed using the PDO21 and accessing the registers R/W on words 1-5. Since different PLC's have different methods of implementation the basic steps is described in the following. 1. Set the needed velocity. V_SOLL = V x 2.77 [rpm] Ex. We need the motor to run with a constant speed of 1200 RPM. So, V_SOLL = 1200/2,77 = 433 cnt/smp 2. Set the needed acceleration. A_SOLL = A x 271 [RPM/s²] Ex. We need the motor to accelerate with 100000 RPM/s² so, A_SOLL = 100000/ 271 = 369 cnt/smp². 3. Now set the motor into velocity mode and thereby activate the motor. Ex. The motor needs to be activated by setting it into velocity mode, so we need to set the mode register to the value 1. Mode = 1 which is velocity mode, now the motor will use the acceleration and the velocity just configured. Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 or Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 125 5.7 5.7.2 Examples Running Position control Running the motor in position control requires that the mode register is set for position control. The following registers is of particular interest when position mode is used. 1. 2. 3. 4. 5. 6. 7. 8. "Actual position" -P_IST, register 10 "Actual velocity" -V_IST, register 12 "Follow error" - The actual position error, register 20 "Motor load mean" - average motor load, register 16 "Error/Status" -register 35 "Requested position" -P_SOLL, register 3 "Requested velocity" -V_SOLL, register 5 "Requested acceleration" -A_SOLL, register 6 In this mode the position is controlled by applying a requested position to the "P_SOLL" -register and the actual position is monitored in the "P_IST" register. The V_SOLL and A_SOLL registers sets the velocity and acceleration used when positioning occurs. 10 Actual position, P_IST value is sent back in this word 12 Actual velocity, V_IST is sent back in this word 20 Follow error, the position error 16 Motor load mean. The mean load on the motor 35 Error/Status holds information regarding motion status and error status/code if any 2 Operating mode is used to enable/disable the motor Values: Passive mode = 0 Position mode = 2 TT3017GB 5.7.3 3 Requested position, Sets the P_SOLL value. 5 Velocity, sets the V_SOLL requested velocity value The resolution is 100 RPM = 277 counts/sample 6 Acceleration, requested acceleration 0 Not used - Any register can be inserted here General considerations The register 35 in the motor holds information on the actual error/status. So it is crucial that this register is configured in the cyclic data and thereby obtained and monitored in the Master. In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the I/O -data. This register also holds information on the motion status such as: • In position, bit 4 • Accelerating, bit 5 • Decelerating, bit 6 Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 and Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. The JVL motor is basically put into a working mode and into a passive mode where the motor axle is de-energized, by setting register 2 into either 0 = "passive mode" or into one of the supported modes. Example. 1= "Velocity mode" / 2= "Position mode" / etc. So in order to Stop or Start the motor this register can be supported in the I/O data or by sending an SDO message. 126 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.7 5.7.4 Examples Homing using only cyclic I/O (JVL profile). When doing a homing (Zero search), with only cyclic I/O, some preconditions have to be met: Zero search position, zero search velocity and zero search torque (torque only for MAC motors) has to be set in MacTalk in the "Main" tab, and saved in flash in the motor once and for all. TT3083GB Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 127 5.7 Examples Register 2 (Operating mode) has to be present in BOTH the cyclic read words and cyclic write words. TT3085GB Procedure in the PLC: • Treat the transmitted Register 2 as "Requested_Mode" and the received register 2 as "Actual_Mode". • When homing is wanted, set the "Requested_Mode" to one of the values 12, 13 or 14 depending of the requested homing mode (12 = Torque based zero search mode (only MAC motors). 13 = Forward/only zero search mode. 14 = Forward+backward zero search mode (only MAC motors) .). For a comprehensive description of the homing modes, refer to the general MAC motor manual LB0047-xxGB. • Observe that the "Actual_Mode" is changing to the homing mode. Now the module is blocking cyclic writes TO the motor. Cyclic reads is still active. • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. 128 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 5.7 5.7.5 Examples Relative positioning. There are a number of ways to do relative positioning, but the one explained here is very simple, and can be used with a constant distance, or exchangeable distance, to move every time it is requested. Preconditions: Place the module command register (register 983040 in MacTalk) in the cyclic write list. The cyclic setup, could for example look like this: TT3086GB Procedure in the PLC: 1. Set up register P7 in motor to requested relative offset. 2. Make sure one net cycle has passed, so P7 resides in the motor. 3. Issue command 0x800000F1 (0x80000071 if the MISxxxxxxELxxxx motor is used) in module command register (register 983040 in MacTalk). 4. Make sure one net cycle has passed, so command is interpreted by the motor. 5. Set module command register to zero. This will prepare the Ethernet module for new commands. 6. If needed then monitor register 35 (Error status): When bit 4 is set (in position), then the move is finished. 7. When a new relative move is requested, go to step 3. You may also have the P7 register in the cyclic write list, thereby enabling easy change of the relative distance to move. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 129 130 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6 PROFINET® Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 131 6.1 Introduction to PROFINET IO MAC - PROFINET IO Module Type: MAC00-EP4 (shown) or MAC00-EP41 (extended I/O) To be used in following servo products: MAC50, 095, 140 and 141 MAC400 and MAC402 MAC800 MAC1500 and MAC3000 MIS - PROFINET IO motors. Type: MIS34xxxEPxx85 or MIS43xxxEPxx85 To be used in following stepper products: - Integrated from factory TT3057-02GB 6.1.1 Overview PROFINET IO is a fieldbus protocol that enables communication between programmable controllers and distributed field devices in Ethernet networks. PROFINET IO uses traditional Ethernet hardware and software to define a network that structures the task of exchanging data, alarms and diagnostics with Programmable Controllers and other automation controllers. PROFINET IO can be thought of, as PROFIBUS on Ethernet. The protocol classifies devices into IO controllers, IO supervisors and IO devices, which have a specific collection of services. PROFINET IO uses three different communication channels to exchange data. • The standard UDP/IP and TCP/IP channel is used for parameterization and configuration of devices and for acyclic operations. • The Real Time (RT) channel is used for cyclic data transfer and alarms. • The third channel, Isochronous Real Time (IRT) channel, is used e.g. in some motion control applications (not implemented in JVL MAC00-EP4/-EP41nor the MISxxxxxxEPxxxx motor). PROFINET IO devices are structured in slots, and sub-slots, which can contain modules and sub-modules correspondingly. Devices can have almost any number of slots and subslots and they can be virtual or real. Device specific data is represented in slot 0, module and sub-module specific data in subsequent slots and sub-slots. One of the benefits of PROFINET IO is the diagnostics and alarm mechanism. Every module and sub-module provides alarm data to the IO controller using the cyclic channel. Diagnostic data can be read non-cyclically from the device by using record data. Properties and services of a PROFINET IO device are described in a GSD file that is written in GSDML (General Station Description Markup Language). 132 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.1 Introduction to PROFINET IO The GSD file describes the device specific modules and the method of assigning modules and sub-modules to predefined slots and sub-slots. There is no theoretical limit for the amount of connected nodes in PROFINET IO network, but in practice, the programmable controllers and number of available network addresses limits the size. The PROFINET IO protocol is specified in the IEC standards 61158 and 61784. Further information can be obtained from www.PROFINET.com. 6.1.2 Definitions and abbreviations Following general used terms are useful to know before reading the following chapters. 100Base-Tx 100 MBit Ethernet on twisted pairs. Acyclic communication Communication in which messages are sent once per request. Cyclic communication Communication in which process data are sent cyclically at predefined intervals. DAP Device Access Point. DCP Discovery and Configuration Protocol. GSD General Station Description. Device description file in a specified form. Each device (active & passive stations) on PROFINET has to have its own GSD File. GSD files in PROFINET are written in GSDML. GSDML General Station Description Markup Language - is a XML based language used for the device description file. IO-Controller Control system with bus initiative. In PROFINET IO terminology, IO-controllers are also called master stations. IOPS IO Provider State (state of the provider of cyclic IO data). IOCS IO Consumer State (state of the consumer of cyclic IO data). IP Internet Protocol - IP address ~ the logical address of the device, which is user configurable. MAC Media Access Controller - MAC address ~ the hardware address of the device. PZD Process Data TCP Transfer Control Protocol (an IP based protocol used widely on the internet) UDP User Datagram Protocol (an IP based protocol used widely on the internet) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 133 6.2 6.2.1 Commissioning Indicator description The LED's are used for indicating states and faults of module. There is one power LED, two link/activity LED's (one for each Ethernet connector), and 2 status LED's. MAC Module Indicators and label overview System Failure indicator MIS Motor Indicators and label overview Power indicator Bus Failure indicator System Failure indicator Line activity indicator (CN2) Line activity indicator (CN3) Bus Failure indicator Power indicator MAC address (placed at front) Line activity indicators MAC address Hardware serial number TT3070-02GB Hardware serial number LED indicator descriptions - Covers both MAC and MIS. LED Text MAC / MIS Colour Constant off Constant on Blinking Flickering L/A IN / L2 Green No valid Ethernet connection. Ethernet is connected. - Activity on line L/A OUT L3 Green No valid Ethernet connection. Ethernet is connected. - Activity on line SF / L1 Red No System failures System failures DCP signal service is initiated - BF / ERR Red No Bus failures Bus failures No data exchange - PWR Green Power is not applied. Power is applied to both motor and module. - Power is applied to module but no communication with motor Notes: Blinking: Flashing with equal on and off periods of 200ms (2.5Hz). Single flash : Repeating on for 200ms and off for 1s. Double flash : Two flashes with a period of 200ms followed by 1s off period. Triple flash : Three flashes with a period of 200ms followed by 1s off period. Flickering : Rapid flashing with a period of approx. 50ms (10 Hz). 6.2.2 134 Mechanical installation The network cables must be connected to the two M12 connectors (marked “L/A IN” and “L/A OUT”) at the MAC module and “CN2” and “CN3” at the MIS motors. The cable from the IO CONTROLLER is connected to either of the two ports. In the line topology, if there are more slave devices in the same line, the next slave device is connected to the second port. If there is a redundant ring, the second port of the last slave device is connected to the second port of the IO CONTROLLER. See also figure in the introduction section. Standard CAT 5 STP cables can be used. It is not recommended to use UTP cables in industrial environments, which is typically very noisy. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.2 6.2.3 Commissioning Network configuration To enable communication through the Ethernet network, the module needs a valid IP address. This is done either by MacTalk, see the quick start guide or is done by DCP. In the PROFINET IO protocol, also a device name is required to identify the drive. IO-controllers and some configuration tools have a protocol called Discovery and Configuration Protocol (DCP) for assigning the IP address and the device name. The IP address shown in MacTalk, is only a power on default. When a PLC is connected the actual used IP can be another one configured by the PLC. PROFINET IO and DCP When the module is initialized, the IP address is transferred to the PROFINET IO communication stack. If there is a need to change the IP address it should be done with a DCP tool (like Siemens Step7). If some of the other methods are used to change the IP address, the module must be restarted to enable any changes. 6.2.4 Configuring the system After the MAC or MIS motor has been mechanically and electrically installed according to the instructions in previous chapters, and has been initialized by the drive, the master station must be prepared for communication with the module. Configuration of the master station requires a type definition (GSD) file. In PROFINET IO the GSD file is written in XML based language called GSDML. MAC00-EPx has a GSD file, which is available from www.jvl.com or your local JVL representative. The filename is GSDML-V2.2-JVL-MAC00-EPx-yyyymmdd.xml. The GSD file describes vendor specific features of the module. Please refer to the master station documentation for more information on activating PROFINET IO devices with GSD file. 6.2.5 PROFINET IO in the MAC or MIS motors The JVL Profinet uses slots 0 and 1. Slot 0 does not have any sub-slots and the DAP module attached to it represents the device itself. Other functional modules and sub-modules, which are described in the GSDML file, can be assigned to slot 1 and its sub-slots: • Slot 0 = Device access point (DAP) • Slot 1, sub-slot 1 = Vendor object • Slot 1, sub-slot 1 = Acyclic parameter access The MAC or MIS motors provides the following services: • Cyclic messaging • Acyclic parameter access mechanism • Identification & Maintenance functions (I&M) JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 135 6.2 6.2.6 Commissioning Dynamic IP and naming With DCP (Discovery and Configuration Protocol) the IP address and ’Name of station’ in the device can be changed on the fly, by the PLC. Therefore the IP address shown in MacTalk is only the power up default, and may not be the actual used IP address after the PLC has established communication. If checking the “Power up with blank name of station” (factory default) in MacTalk and save the configuration in flash, then the MAC00-EPx / MISxxxxxxEPxx85 will always start up without a station name. This enables the possibility of having new devices on stock, and if needed exchange them in the machine without any setup, as the PLC can be programmed to automatically assigning the correct name, when it finds a device without name. 136 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.2 6.2.7 Commissioning Quick start guide This section describes the steps to configure the Siemens ET200S PLC and TIA Portal v11 software, so it can be used to control the drive. Set IP address 1. If having a MAC motor then Connect the RS232 communication cable, and if having a MIS motor then connect the RS485 communication cable. 2. Apply power to the motor, and make sure the PWR LED is lit. 3. Open MacTalk and select the "MAC00-EP (PROFINET)" tab. 4. Change the IP address, to one suitable for the network. 5. Press "Apply and save". Installation 6. Connect an Ethernet RJ45-M12 cable to one of the interfaces on the ET200S and to “L/A IN” and “L/A OUT” at the MAC module and “CN2” and “CN3” at the MIS motors. 7. Connect power to the ET200S, and Ethernet patch cable from the PC with Siemens TIA Portal v11 installed to the ET200S PLC. 8. Make sure power is applied to all devices. Add the GSD file (contains info on the capabilities of the device) 9. In the Options menu of TIA Portal V11, select Install general station description file (GSD). 10. In the "Install general station description file" window find and select the "GSDMLV2.2-JVL-MAC00-EPX-yyyymmdd.xml" file, and click Install. 11. Follow the on screen instructions. TT3050-01GB PLC configuration 12. Create a new project in TIA Portal v11 for your PLC, or open an existing project. See Siemens documentation for more information. 13. In the Hardware catalog under Other field devices / PROFINET I/O / I/O / JVL Industri Elektronik A/S / PNS should MAC00-EPx reside. See figure at next page. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 137 6.2 Commissioning TT3051-01GB 14. Drag and drop the MAC00-EPx to the Network view. 15. Also add your PLC to the Network view (see also Siemens documentation for further info). 16. If using external switches then these must be added too (see Siemens documentation for further info). If not continue to the next step. 17. Connect the two devices, by dragging a line between the small green boxes in each device, and it should now look like below. TT3052-01GB Associating with the cyclic data 18. Drag the “8 registers input” and “8 registers output” from the hardware catalog under Other field devices / PROFINET I/O / I/O / JVL Industri Elektronik A/S / PNS / Module / Input modules and Output modules, and drop them in the Device overview of the MAC00-EPx. See illustration next page. 138 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.2 Commissioning TT3053-01GB 19. It should now be possible to make a PLC application using cyclic communication to the 8 registers input and output (see section 6.3.1 for setting up those with Mactalk). There is also an example on the web page www.jvl.dk in the download section, named 'JVL_PN_ex1.zip' which can be downloaded and unzipped. This example is made for MAC140, but can easily be changed to work with MAC400-MAC3000 or the MIS motors. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 139 6.3 6.3.1 PROFINET objects Process data Process Data (PZD) are used for cyclic transfer of time-critical process data between master and slaves, such as position, velocity, torque etc. Transmit PZD are used to transfer data from the slave to the master and receive PZD to transfer data from the master to the slave. The JVL process data is fully user configurable. It is possibly to set up eight, 32 bit registers in each direction. The setup is done with MacTalk or via parameter object 0x11 subindex 16-31. It requires a save in flash and a power cycle before the new configuration are used. If the configuration of the PZD, is not altered by the user, the JVL PROFINET module uses the default mapping shown in the tables below. It is mandatory to have the error/status register (register 35) as one of the slave to master registers. If not the motor will overrule the configuration and place register 35 anyway. If module registers is placed in cyclic R/W, then the register number has to be calculated as follows: Register number = 65536 x sub index. Example: module command (sub-index 15) = 65536 x 15 = register 983040 When module registers (register numbers above 65535) are chosen, they have to be placed after the motor registers in the list of cyclic registers. NB! If an index is set to zero (No selection) then the following indexes is discarded. Thereby computing resources in the drive are released, which makes much faster cycle times possibly. Please see next paragraph. Default registers in transmit PZD (Slave > Master) - Only MAC-EPx Object index Register no. Motor register short Motor register description 0 2 MODE_REG Operating mode 1 10 P_IST Actual position 2 12 V_IST Actual velocity 3 169 VF_OUT Actual torque 4 35 ERR_STAT Status bits 5 - - - 6 - - - 7 - - - The motor registers 35, 36, and 211 should NOT be inserted in the cyclic write list, as this may give unpredictable results. For clear of errors, reset of motor etc. please insert the module command register (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please refer to Register Overview, page 172. Continued next page 140 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.3 PROFINET objects Default registers in receive PZD (Master > Slave) - Only MAC-EPx Object index Register no. Motor register short Motor register description 0 2 MODE_REG 1 3 P_SOLL Operating mode Target position 2 5 V_SOLL Maximum velocity 3 7 T_SOLL Maximum torque 4 - - - 5 - - - 6 - - - 7 - - - Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. ! Default registers in transmit PZD (Slave > Master) - Only MISxxxxxxECxx85 Object index Register no. Motor register short Motor register description 0 2 MODE_REG Operating mode 1 10 P_IST Actual position 2 12 V_IST Actual velocity 3 35 ERR_STAT Error bits 4 36 WARN_BITS Warning bits 5 - - - 6 - - - 7 - - - Default registers in receive PZD (Master > Slave) - Only MISxxxxxxECxx85 Object index Register no. Motor register short Motor register description 0 2 MODE_REG Operating mode 1 3 P_SOLL Requested position 2 5 V_SOLL Requested velocity 3 6 A_SOLL Requested acceleration 4 - - - 5 - - - 6 - - - 7 - - - The MIS motor registers 24, 35 and 36 should NOT be inserted in the cyclic write list, as this may give unpredictable results. For clear of errors, reset of motor etc. please insert the module command register (=983040 in Mactalk) in the cyclic write list and send commands this way. For a list of commands for the module command register please refer to Register Overview, page 172 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 141 6.3 6.3.2 PROFINET objects Minimum cycle time The minimum cycle time is the minimum amount of time between each cyclic request on the Ethernet. If operating with values lower than those listed, data loss will occur. Motor series No. of motor registers transmitted in each direction 1/1 2/2 3/3 4/4 5/5 6/6 7/7 8/8 * 142 MAC050 to MAC141 MAC400 to MAC3000 MIS34x and MIS43x 4ms * 8ms * 12ms * 16ms * 20ms * 24ms * 28ms * 32ms * 1ms * 1ms * 1ms * 1ms * 1ms * 1ms * 1.1ms * 1.2ms * 1ms * 1ms * 1ms * 1ms * 1ms * 1ms * 1.1ms * 1.2ms * The minimum cycle times, is only valid if not sending any acyclic requests while in any operating mode. MODULE registers can be appended as the last registers in the list, at no extra timing cost. Motor register 35 shall be in the cyclic read list, as it is also used internally. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.3 PROFINET objects Changing cycle time in TIA Portal V11 In the TIA Portal V11 the cycle time is set up in the properties of each device, under Real time settings / IO Cycle. Please see the picture below. It is done in a similar way in Step7, but this is not shown. TT3082GB Accessing process data The PZD is done by setting up the motor registers you want to use with MacTalk or with acyclic parameter access to object 0x11 subindex 16-31. In MacTalk the process data is configured on the PROFINET tab, see below. After change of the registers, remember to press the Apply and save button. Here the actual position is transfered in the 1. word of data. The operation mode is written in the motor. TT3014GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 143 6.3 6.3.3 PROFINET objects Parameter objects. The parameter objects provide access to all module registers, and all motor registers, as well as a module command object. The objects in the list can be accessed with acyclic services, Accessing parameter objects, page 145. Object Sub (hex) Object Type Module command 0x10 0 UNSIGNED32 Module parameters 0x11 1 UNSIGNED32 Motor parameters 0x12 0-255 Register dependant Read only Default Description Module command object. See possible commands below. X X Access to module register N 254 Access to the motor parameter n (register) Note: Module parameters are not automatically saved to permanent memory after a change. The parameters can be saved permanently by applying a "Save parameters to flash" command afterwards. Object 0x10 - Subindex 0 This object is used for sending commands to the module and is write only. It is analogue to writing to object 2011 subindex 15. See the description Register Descriptions., page 173. Object 0x11 The module registers is mapped to object 0x11. The subindex 3-31 is R/W, the rest is read only. The register numbers are used as sub indexes in the object. See register descriptions in chapter 8 - Register Descriptions., page 173 Object 0x12 Object 0x12 are for acyclic view or change of motor registers. Please find a complete list of register descriptions in the appendex. Motor registers MAC050 - 141, page 200 or Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. 144 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.3 6.3.4 PROFINET objects Accessing parameter objects Parameter objects are accessible by use of acyclic data. In Siemens Step 7, this is done with the Special Function Blocks SFB52 and SFB 53. Write parameter Write to parameters is done with the SFB53, as shown below. TT3054-01GB The data block must be setup prior to use, in this example "Req_Write_DB". Name Description Example ID Index ID of device Object and subobject to write to High byte = Object, Low byte = Subobject (parameter/register no.) Length of data 32 bit data to write 2042 0x1231 (Object 0x12, parameter 0x31) LEN Record 4 (always 4 byte = 32 bit) 0xFEDCBA98 Example: Write 0xFEDCBA98 to object 0x12 subobject 0x31 ( = motor register no. 49), in JVL device with ID 2042. ! Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 145 6.3 PROFINET objects Read parameter Read of parameters is done with SFB52, as shown below. TT3055-01GB The data block must be setup prior to use, in this example "Req_Read_DB", and the 32 bit result will be in "Resp_Read_DB.Data". Name Description Example ID Index ID of device Object and sub-object to read from High byte = Object, Low byte = Subobject (register no.) Length of data 2042 0x1122 LEN 4 (always 4 byte = 32 bit) Example: Read from object 0x11 subobject 0x22 ( = module parameter no. 34), in JVL device with ID 2042. ! 146 Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.4 6.4.1 Ethernet switch Selecting an Ethernet Switch Depending on the network topology and size a suitable switch can be used. Also if multiple separated networks need to be connected a switch is used. Depending on the actual size of the network different requirements needs to be met. It is absolutely mandatory that every switch device or other device acting as a switch complies with the Profinet RT protocol (LLDP and PN_PTCP frames must be recognized). Otherwise the net might very well get congested; because non-Profinet conforming switches will broadcast messages not intended for broadcast. Besides the Port mirroring function for network analyzing and troubleshooting purposes, can be advantages. This feature makes it possible to route traffic out on a separate port connected to a network analyser for debugging purposes and general performance monitoring. The JVL Profinet module has build in 2 port switch useful if a limited amount of motors is connected in a daisy chaining topology. This switch is Profinet-IRT capable and will of cause obey the above mentioned demands. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 147 6.5 6.5.1 Examples Running Velocity control To use the JVL motor in velocity -mode the following registers basically is of interest. 1. 2. 3. 4. "Mode" - mode register - register 2 "V_SOLL" - velocity register 5 "A_SOLL" - acceleration register 6 "Error/Status" - register 35 So, to control these registers the assembly object needs to be configured. From MacTalk the setup is configured as this. TT3056-01GB With the settings illustrated above we initiate the velocity mode by writing 0x1 to the first word-value, this is velocity mode. Since different PLC's have different methods of implementation the basic steps is described in the following. 1. Set the needed velocity. V_SOLL = V x 2.77 [rpm]. Example: We need the motor to run with a constant speed of 1200 RPM. So, V_SOLL = 1200/2,77 = 433 cnt/smp 2. Set the needed acceleration. A_SOLL = A x 271 [RPM/s2]. Example: We need the motor to accelerate with 100000 RPM/s2 so, A_SOLL = 100000/271 = 369 cnt/smp2 3. Now set the motor in velocity mode and thereby activate the motor. Example: The motor needs to be activated by setting it into velocity mode, so we need to set the mode register to the value 1. Mode = 1 which is velocity mode, now the motor will use the acceleration and the velocity just configured. Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 or Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. 148 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.5 6.5.2 Examples Running Position control Running the motor in position control requires that the mode register is set for position control. The following registers is of particular interest when position mode is used. 1. 2. 3. 4. 5. 6. 7. 8. "Actual position" -P_IST, register 10 "Actual velocity" -V_IST, register 12 "Follow error" - The actual position error, register 20 "Motor load mean" - average motor load, register 16 "Error/Status" -register 35 "Requested position" -P_SOLL, register 3 "Requested velocity" -V_SOLL, register 5 "Requested acceleration" -A_SOLL, register 6 In this mode the position is controlled by applying a requested position to the "P_SOLL" -register and the actual position is monitored in the "P_IST" register. The V_SOLL and A_SOLL registers sets the velocity and acceleration used when positioning occurs. 10 Actual position, P_IST value is sent back in this word 12 Actual velocity, V_IST is sent back in this word 20 Follow error, the position error 16 Motor load mean. The mean load on the motor 35 Error/Status holds information regarding motion status and error status/code if any 2 Operating mode is used to enable/disable the motor Values: Passive mode = 0 Position mode = 2 TT3017GB 6.5.3 3 Requested position, Sets the P_SOLL value. 5 Velocity, sets the V_SOLL requested velocity value The resolution is 100 RPM = 277 counts/sample 6 Acceleration, requested acceleration 0 Not used - Any register can be inserted here General considerations The register 35 in the motor holds information on the actual error/status. So it is crucial that this register is configured in the cyclic data and thereby obtained and monitored in the Master. In case of an error situation the motor will stop and the cause will be present in the register 35 and hence in the I/O -data. This register also holds information on the motion status such as: • In position, bit 4 • Accelerating, bit 5 • Decelerating, bit 6 Please find a complete list of register descriptions in the appendix. Motor registers MAC050 - 141, page 200 or Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. The JVL motor is basically put into a working mode and into a passive mode where the motor axle is de-energized, by setting register 2 into either 0 = "passive mode" or into one of the supported modes. Example. 1= "Velocity mode" / 2= "Position mode" / etc. So in order to Stop or Start the motor this register can be supported in the I/O data or by sending an acyclic message. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 149 6.5 6.5.4 Examples Homing using only cyclic I/O (JVL profile). When doing a homing (Zero search), with only cyclic I/O, some preconditions have to be met: Zero search position, zero search velocity and zero search torque (torque only for MAC motors) has to be set in MacTalk in the "Main" tab, and saved in flash in the motor once and for all. TT3083GB Startup mode should be set to position, for the motor to stay in position after the homing sequence. And this setting should also be saved in flash. TT3084GB 150 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 6.5 Examples Register 2 (Operating mode) has to be present in BOTH the cyclic read words and cyclic write words. TT3085GB Procedure in the PLC: • Treat the transmitted Register 2 as "Requested_Mode" and the received register 2 as "Actual_Mode". • When homing is wanted, set the "Requested_Mode" to one of the values 12, 13 or 14 depending of the requested homing mode (12 = Torque based zero search mode (only MAC motors). 13 = Forward/only zero search mode. 14 = Forward+backward zero search mode (only MAC motors) .). For a comprehensive description of the homing modes, refer to the general MAC motor manual LB0047-xxGB. • Observe that the "Actual_Mode" is changing to the homing mode. Now the module is blocking cyclic writes TO the motor. Cyclic reads is still active. • Wait for register 35 "Error status" bit 4 to be active =IN_POSITION. (Indicates that homing is finished). • Then change "Requested_Mode" to whatever needed. The blocking of cyclic writes to the motor is then released by the module. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 151 6.5 6.5.5 Examples Relative positioning. There are a number of ways to do relative positioning, but the one explained here is very simple, and can be used with a constant distance, or exchangeable distance, to move every time it is requested. Preconditions: Place the module command register (register 983040 in MacTalk) in the cyclic write list. The cyclic setup, could for example look like this: TT3086GB Procedure in the PLC: 1. Set up register P7 in motor to requested relative offset. 2. Make sure one net cycle has passed, so P7 resides in the motor. 3. Issue command 0x800000F1 (0x80000071 if MISxxxxxxEPxxxxx) in module command register (register 983040 in MacTalk). 4. Make sure one net cycle has passed, so command is interpreted by the motor. 5. Set module command register to zero. This will prepare the Ethernet module for new commands. 6. If needed then monitor register 35 (Error status): When bit 4 is set (in position), then the move is finished. 7. When a new relative move is requested, go to step 3. You may also have the P7 register in the cyclic write list, thereby enabling easy change of the relative distance to move. 152 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7 ModbusTCP/IP® Users Guide JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 153 7.1 Introduction to Modbus TCP/IP® MAC - Modbus TCP/IP Module Type: MAC00-EM4 (shown) or MAC00-EM41 (extended I/O) To be used in following servo products: MAC50, 095, 140 and 141 MAC400 and MAC402 MAC800 MAC1500 and MAC3000 MIS - Modbus TCP/IP motors. Type: MIS34xxxEMxx85 or MIS43xxxEMxx85 To be used in following stepper products: - Integrated from factory TT3058-02GB 7.1.1 154 Introduction. Modbus TCP/IP or Modbus TCP — is a Modbus variant used for communications over TCP/ IP networks, connecting over port 502. It is basically a Modbus RTU without a checksum calculation as lower layers already provide checksum protection. It is protocol based on the standard TCP/IP protocols so it is applicable anywhere there is standard Ethernet available as it have no special requirements regarding the Ethernet hardware, opposite some of the other industrial Ethernet protocols. Further information about Modbus TCP is available from the Modbus Organization www.modbus.org. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7.1 7.1.2 Introduction to Modbus TCP/IP® Abbreviations The below general used terms are useful to know before reading the following chapters. 100Base-Tx 100 MBit Ethernet on twisted pairs IP Internet Protocol - IP address ~ the logical address of the device which is user configurable. MAC Media Access Controller - MAC address ~ the hardware address of the device. MacTalk A windows PC based program supplied from JVL. This is an overall program to install, adjust and monitor the function of the motor and a module in stalled in the motor. TCP Transfer Control Protocol (an IP based protocol used widely on the internet) UDP User Datagram (an IP based protocol used widely on the internet) DHCP Dynamic Host Configuration Protocol (Automatic configuration of IP address netmask and gateway from a DHCP server). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 155 7.2 7.2.1 Commissioning Indicator LED’s - description. The LED's are used for indicating states and faults of module. There is one power LED, two link/activity LED's (one for each Ethernet connector) and 2 status LED's. MAC Module Indicators and label overview General status indicator MIS Motor Indicators and label overview Power indicator Error indicator General status indicator Line activity indicator (CN2) Line activity indicator (CN3) Error indicator Power indicator MAC address (placed at front) Line activity indicators TT3059-02GB MAC address Hardware serial number Hardware serial number LED indicator descriptions - Covers both MAC and MIS. LED Text Off MAC / MIS L/A IN / L2 L/A OUT / L3 RUN / L1 ERROR / ERR PWR Red Orange No valid Ethernet connection - - Ethernet is connected - No valid Ethernet connection - - Ethernet is connected - TCP server TCP client open for connected connections - - No Errors Power is not applied Initializing or no valid Ethernet Fatal error - - - Green Power is applied to both motor and module. Flickering Green Very slow blinking green Wrong constellation of IP, NM, and GW Power is applied to module but no communication with motor. Notes: Flickering: Rapid flashing with a period of approx. 50ms(10Hz). 156 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7.2 7.2.2 Commissioning Mechanical installation The network cables must be connected to the two M12 connectors marked “L/A IN” and “L/ A OUT” at the MAC module and “CN2” and “CN3” at the MIS motors. The cable from the IO CONTROLLER is connected to either of the two ports. In the line topology, if there are more slave devices in the same line, the next slave device is connected to the second port. Standard CAT 5 STP cables can be used. It is not recommended to use UTP cables in industrial environments, which is typically very noisy. 7.2.3 Network configuration To enable communication through the Ethernet network, the module needs a valid IP address. This is either done manually in MacTalk, or DHCP is enabled in Mactalk, and then the IP address, net mask and gateway is automatically obtained from a DHCP server. If DHCP is enabled then a DHCP server has to be available on the local network. 7.2.4 Communication description Connect to Modbus TCP module by opening a TCP client connection to the module IP address on port 502. It’s possibly to have only one open connection at a time. The registers in the motor and in the module are all 32 bit. To comply with the clean 16bit Modbus standard, a 32-bit register must be read or written as two consecutive 16-bit registers. The register address mapping follows the normal documented register numbers but the address field, must be multiplied by two, so to read or write register 3, P_SOLL, use the address 6. Thereby, enabling transfer of one 32 bit register, as two 16 bit registers, where the least significant 16 bit “register” is transmitted first (see examples). It is possibly to access both motor registers and Modbus TCP module registers. Motor registers is accessed by addressing register 0x00 – 0x1FE (for motor register 0-255), and module registers is accessed by addressing 0x8000 – 0x807E (for module register 0-64). The Modbus TCP extension includes 7 additional bytes to the original Modbus protocol which allows for transport over the TCP/IP layers – the MBAP header. So the frame format looks like this (excluding TCP/IP header): | - MBAP Header - | - Function Code - | - Data - | The MBAP Header (ModBus Application Protocol Header) consists of 7 bytes of information: Transaction Identifier 2 bytes Identification of Request/Response transaction – copied from request to response Protocol Identifier 2 bytes 0 = Modbus protocol Length 2 bytes number of following bytes – includes the unit identifier Unit Identifier 1 byte identification of remote slave. Function codes The MAC00-EMx / MISxxxxxxEMxx85 Modbus TCP module supports three function codes: 0x03 Read holding registers 0x10 Write multiple registers (up to 32 modbus registers = 16 x 32bit registers) 0x17 Read/Write multiple registers JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 157 7.2 Commissioning If an error is detected in the received request an exception frame is returned. | - MBAP Header - | - Function Code - | - Exception code - | The returned function code, in case of an exception, is the transmitted function code with bit 7 set (means that 0x03 Î 0x83, and 0x10 Î 0x90, and 0x17 Î 0x97). Exception codes 0x01 Function code not supported 0x02 Not allowed register no. 0x03 Too many registers or uneven no. of registers, as every register in motor/module is 32 bit and requires 2 x 16 bit modbus registers. (0x03) Read Holding Registers Read of registers. Max. 124 x 16bit registers at a time (=62 x 32bit registers). Only even no. of 16bit registers is supported. The response time is increased slightly for every register added. See Minimum poll time, page 160 for minimum poll time. Request: 7 bytes 1 byte 2 bytes MBAP header Modbus Cmd. (0x03) Motor register no. x 2 or module Register count register no. x 2 + 0x8000 2 bytes Response: 7 bytes 1 byte 1 byte 2 bytes MBAP header Modbus Cmd. (0x03) Data byte count Register value low 16bit 2 bytes Register value high 16bit Example, read of module register 3 (= IP address = 192.168.100.1 = 0xC0.0xA8.0x64.0x01): Request |0x00|0x01|0x00|0x00|0x00|0x06|0x01|0x03|0x80|0x06|0x00|0x02| Response – (Note the byte order!) |0x00|0x01|0x00|0x00|0x00|0x07|0x01|0x03|0x04|0x64|0x01|0xC0|0xA8| Possibly exception responses: 0x02, 0x03. For further documentation see “Modbus_Application_Protocol_V1_1b.pdf” and “Modbus_Messaging_Implementation_Guide_V1_0b.pdf” found on www.modbus.org. ! 158 Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7.2 Commissioning (0x10) Write Multiple registers Max. 32 x 16bit write registers at a time (=16 x 32bit registers). Only even no. of 16bit registers are supported Request: 7 bytes 1 byte MBAP header Modbus Cmd. Motor register no. x 2 or mod- Register count Register value Register value low 16bit high 16bit (0x10) ule register no. x 2 + 0x8000 2 bytes 2 bytes 2 bytes 2 bytes Response: 7 bytes 1 byte MBAP header Modbus Cmd. Motor register no. x 2 or modRegister count (0x10) ule register no. x 2 + 0x8000 2 bytes 2 bytes Example, write of motor register 3 (= P_SOLL = 0x12345678): Request – (Note the byte order!) |0x00|0x02|0x00|0x00|0x00|0x0B|0x01|0x10|0x00|0x06|0x00|0x02|0x04|0 x56|0x78|0x12|0x34| Response |0x00|0x02|0x00|0x00|0x00|0x06|0x01|0x10|0x00|0x06|0x00|0x02| Possibly exception responses: 0x02, 0x03. For further documentation see “Modbus_Application_Protocol_V1_1b.pdf” and “Modbus_Messaging_Implementation_Guide_V1_0b.pdf” found on www.modbus.org. Note! Even though all registers is to be transmitted as 32 bit some of them originally derive from 16 bit in the MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. (0x17) Read/Write multiple registers Simultaneous read and write of registers. Max. 124 x 16bit read registers at a time (=62 x 32bit registers). And max. 32 x 16bit write registers at a time (=16 x 32bit registers). Only even no. of 16bit registers is supported. The response time is increased slightly for every register added. See Minimum poll time, page 160 for minimum poll time. Request: 7 bytes 1 byte MBAP Modbus header Cmd. (0x17) 2 bytes Read Motor register no. x 2 or Read Module register no. x 2 + 0x8000 2 bytes Register count Read. (Max. 124) 2 bytes Write Motor register no. x 2 or Write Module register no. x 2 + 0x8000 2 bytes Register count Write. (Max. 32) 1 byte Write byte count 2 bytes** Register value write low 16bit 2 bytes** Register value write high 16bit ** To be repeated 1-16 times. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 159 7.2 Commissioning Response: 7 bytes 1 byte MBAP header 1 byte Modbus Data byte Cmd. (0x17) count 2 bytes* 2 bytes* Register value low 16bit Register value high 16bit * To be repeated 1-62 times. Example: Read of module register 3 (= IP address = 192.168.100.1 = 0xC0.0xA8.0x64.0x01) and write of motor register 3 (= P_SOLL = 0x12345678) in one operation: Request - (Note the byte order!) |0x00|0x02|0x00|0x00|0x00|0x0B|0x01|0x17|0x80|0x06|0x00|0x02|0x00| 0x06|0x00|0x02|0x04|0x56|0x78|0x12|0x34| Response - (Note the byte order!) |0x00|0x01|0x00|0x00|0x00|0x07|0x01|0x17|0x04|0x64|0x01|0xC0|0xA8| Possibly exception responses: 0x02, 0x03. For further documentation see "Modbus_Application_Protocol_V1_1b.pdf" and "Modbus_Messaging_Implementation_Guide_V1_0b.pdf" found on www.modbus.org. ! 7.2.5 Please notice: Even though all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. Minimum poll time The minimum poll time is the minimum amount of time between each poll request on the Ethernet. If operating with values lower than those listed, data loss will occur. No. of polled motor registers (32bit) Motor series MAC050-MAC141 MAC400-MAC3000 MIS34x or 43x 1 2ms 2ms 2ms 5 10ms 3ms 3ms 10 20ms 4ms 4ms The minimum poll times is only valid if not sending any requests while in any operating mode. MODULE registers can be appended at no extra timing cost. If motor register 35 is not polled it will be added internally anyway and has to be added to the minimum cycle time with 2ms if MAC050-MAC141. 160 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7.2 7.2.6 Commissioning Quick start guide This section describes the steps to configure the MAC00-EMx module or the MISxxxxxxEMxxxx motor using the shareware program Modbus poll, which can be obtained from the website: http://www.modbustools.com/ Set IP address 1. Connect the RS232 communication cable. 2. Apply power to the motor, and make sure the PWR LED is lit. 3. Open MacTalk and select the “MAC00-EM (Modbus TCP)” tab. 4. Change the IP address, to one suitable for the network. 5. Press “Apply and save”. Installation 6. Connect an Ethernet RJ45-M12 cable to the Ethernet interface of the PC with Modbus Poll installed and to “L/A IN” and “L/A OUT”) at the MAC module and “CN2” and “CN3” at the MIS motors. 7. Make sure power is applied to all devices. Connect to MAC00-EMx or MISxxxxxxEMxxxx 8. In the Connection menu of Modbus Poll select Connect. 9. The connection is made by choosing the “Modbus TCP/IP” protocol, the IP address of the motor, and port 502. As seen below. TT3060-01GB 10. The “Run” led on the motor (which is red when powering up) should now change from orange to green when connected to the client (Modbus poll). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 161 7.2 Commissioning Setup poll registers 11. When connected it is possibly to change the polling of registers in the motor by rightclicking in the default “Mbpoll1” window and selecting “read/write definition”. In the shown example below is chosen “Address:” 20 (= register 10), and “Quantity:” 6 (= 3 x 32bit registers). This means that register 10, 11 and 12 is polled. TT3061-01GB 12. By choosing File and New a second poll window is opened where “Address:” 70 and “Quantity:” 2 is chosen. Meaning that error register 35 is polled. Your screen should now look something like this: TT3062-01GB 162 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7.2 Commissioning Transmit data to motor You can transmit data to the motor by chosing Functions and 16: Write registers, and if choosing “Address:” 4, “Quantity:” 2, and data = 0x01 (in address 004 = least significant 16bit) as shown below (mode register = velocity) the motor should start turning. If not then try to also write velocity (reg. 5 = addr. 10), acceleration (reg. 6 = addr. 12) and/or Torque (reg. 7 = addr. 14) to some valid values. Please find a complete list of register descriptions in the appendix: Motor registers MAC050 - 141, page 200 or Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. TT3063-01GB Note! Even though all registers is to be transmitted as 32 bit some of them originally derive from 16 bit in the MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 163 7.3 Register access The registers in the motor and in the module are all 32 bit (at least they are when travelling through the module so special care must be taken with those registers in MAC050141 which originally is 16bit). To comply with the clean 16-bit Modbus standard, a 32-bit register must be read or written as two consecutive 16-bit registers. The register address mapping follows the normal documented register numbers but the address field must be multiplied by two, so to read or write motor register 3, P_SOLL, use the address 6. Thereby enabling transfer of one 32 bit register, as two 16 bit registers, where the least significant 16 bit “register” is transmitted first (see examples in section 7.2.4). Motor registers is accessed by addressing register 0x00 – 0x1FE (for logic motor register 0-255), and module registers is accessed by addressing 0x8000 – 0x807E (for logic module register 0-64). Please find a complete list of register descriptions in the appendix: Motor registers MAC050 - 141, page 200 or Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. 7.3.1 Module registers. Logic Modbus register address no. (hex) Modbus address (dec) Read Default Description only 0 0x8000 32768 X Not used 1 0x8002 32770 X High 16 bit of MAC address (placed in low 16 bit of word) 2 0x8004 32772 X Low 32 bit of MAC address 3 0x8006 32774 IP address 4 0x8008 32776 Net mask 5 0x800A 32778 6 0x800C 32780 7 0x800E 32782 Digital outputs on module 8 0x8010 32784 Reserved for other protocols 9 0x8012 32786 Reserved for other protocols 10 0x8014 32788 Modbus timeout. 0 = timeout function disabled 11-14 0x8016 0X801C 15 0X801E 16 – 31 0x8020 – 0x803E 32 0x8040 32832 X Module serial no. 33 0x8042 32834 X Module hardware version 34 0x8044 32836 X Module software version 35 0x8046 32838 X No. of internal motor communication timeouts 36 0x8048 32840 X No. of retry frames to motor 37 0x804A 32842 X No. of discarded frames to motor 38 0x804C 32844 X Total no. of frames to motor 39-46 0x804E – 0X805C X Reserved for future use 47 0x805E 32862 X Digital inputs on module 48 0x8060 32864 X Status bits 49-63 0x8062 – 0X807E X Reserved for future use Gateway 0x00 Setup bits Reserved for future use 32798 Command register Reserved for other protocols Note: Module parameters are not automatically saved to permanent memory after a change. The parameters can be saved permanently by applying a “Save parameters to flash” command afterwards. 164 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7.4 Examples In this section is shown some examples of controlling the motor by Modbus TCP. As master is used the shareware program Modbus poll which can be obtained from the website: http:// www.modbustools.com/ These examples assume you are already connected to the motor. For connecting to the motor, please follow the Quick start guide, page 161. 7.4.1 Running Velocity control To use the JVL motor in velocity mode the following motor registers is of interest. 1. 2. 3. 4. “Mode” – mode, register 2 “V_SOLL” – velocity, register 5 “A_SOLL” – acceleration, register 6 “Error/Status” – register 35 So to control these registers setup polling of motor register 12 – actual velocity (modbus address 24), and motor register 35 (modbus address 70). This could look like shown below. TT3064-01GB Now we can monitor the motor errors and the motor velocity. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 165 7.4 Examples Calculate the values needed for velocity and acceleration (constant values valid for MAC400, MAC1500 and MAC3000). 1. Set the needed velocity. V_SOLL = V x 2.8369 [rpm] Ex. We need the motor to run with a constant speed of 1200 RPM. So, V_SOLL = 1200 x 2,8369 = 3404 cnt/smp (= 0x0D4C) 2. Set the needed acceleration. A_SOLL = A / 271 [RPM/s2] Ex. We need the motor to accelerate with 100,000 RPM/s2 so, A_SOLL = 100,000/271 = 369 cnt/smp2 (= 0x0171) Insert the calculated values in send frames and send to motor as shown below (modbus address 10-11 = register 5, modbus address 12-13 = register 6). Remember to press the send button for every new value. TT3065-01GB Now set the motor in velocity mode and thereby activate the motor. Ex. The motor needs to be activated by setting it into velocity mode, so we need to set the mode register to the value 1. Mode = 1 which is velocity mode, now the motor will use the acceleration and the velocity just configured. (Modbus address 4-5 = register 2). TT3066-01GB 166 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7.4 7.4.2 Examples Running Position control Running the motor in position control requires that the mode register is set for position control. The following registers is of particular interest when position mode is used. • Poll registers - "Actual position" -P_IST, register 10 - "Actual velocity" -V_IST, register 12 - "Motor load mean" - average motor load, register 16 - "Follow error" - The actual position error, register 20 - "Error/Status" -register 35 • Write registers - “Mode” – mode, register 2 - "Requested position" -P_SOLL, register 3 - "Requested velocity" -V_SOLL, register 5 - "Requested acceleration" -A_SOLL, register 6 In this mode the position is controlled by applying a requested position to the "P_SOLL" -register and the actual position is monitored in the "P_IST" register. The V_SOLL and A_SOLL registers sets the velocity and acceleration used when positioning occurs. For easy setup we can use a single poll setup for the registers 10,12,16 and 20, and another for register 35, see figure below but it also is possibly to setup one poll instance for every single register. TT3067-01GB Calculate the values needed for velocity and acceleration and send to the motor, see previous example. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 167 7.4 Examples Now set the motor into position mode and thereby activate the motor. Ex. The motor needs to be activated by setting it into position mode so we need to set the mode register to the value 2. Mode = 2 which is position mode, now the motor will use the acceleration and the velocity just configured. (Modbus address 4-5 = register 2). TT3068-01GB Set a position in the motor by writing a position to register 3 (P_SOLL = Modbus address 6-7), in the example shown below is used position 5,000,000 (= 0x 004C 4B40), remark the order. TT3069-01GB 168 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 7.4 7.4.3 Examples General considerations The register 35 in the motor holds information on the actual error/status. So it is crucial that this register is configured in the polled data and thereby obtained and monitored in the Master. In case of an error situation the motor will stop and the cause will be present in the register 35. This register also holds information on the motion status such as: • In position, bit 4 • Accelerating, bit 5 • Decelerating, bit 6 Please find a complete list of register descriptions in the appendix: Motor registers MAC050 - 141, page 200 or Motor registers MAC400 - 3000, page 209 or Motor registers MIS34x & 43x, page 226. The JVL motor is basically put into a working mode and into a passive mode where the motor axle is de-energized, by setting register 2 into either 0 = "passive mode" or into one of the supported modes. Example. 1= "Velocity mode" / 2= "Position mode" / etc. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 169 170 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 8 Module Registers JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 171 8.1 Register Overview The module registers are accessible from Mactalk or from the Ethernet with the installed protocol. 8.1.1 Register list. Register number 0 1 2 3 4 5 6 7 8 9 10 11 12-14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40-46 47 48 49 50-63 N Type UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 Read only Default Description X X X X X X X X X X X X X X X 63 0x0 0 0 0 2 10 12 169 35 2 3 5 7 0 - Subindex count High 16 bit of MAC address (placed in low 16 bit of word) Low 32 bit of MAC address IP address Net mask Gateway Setup bits Digital outputs on module Poll division factor Station alias Modbus TCP time out value Input mask Reserved for future use Command register Register no. to place in TxPDO 21, position 1. Register no. to place in TxPDO 21, position 2. Register no. to place in TxPDO 21, position 3. Register no. to place in TxPDO 21, position 4. Register no. to place in TxPDO 21, position 5. Register no. to place in TxPDO 21, position 6. Register no. to place in TxPDO 21, position 7. Register no. to place in TxPDO 21, position 8. Register no. to place in RxPDO 21, position 1. Register no. to place in RxPDO 21, position 2. Register no. to place in RxPDO 21, position 3. Register no. to place in RxPDO 21, position 4. Register no. to place in RxPDO 21, position 5. Register no. to place in RxPDO 21, position 6. Register no. to place in RxPDO 21, position 7. Register no. to place in RxPDO 21, position 8. Module serial no. Module hardware version Module software version No. of internal motor communication timeouts No. of retry frames to motor No. of discarded frames to motor Total no. of frames to motor No. of SPI CRC errors Reserved for future use Digital inputs on module Status bits Installed protocol type Reserved for future use Access to the motor parameter n Note: Module parameters are not automatically saved to permanent memory after a change. The parameters can be saved permanently by applying a "Save parameters to flash" command afterwards. 172 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 8.2 8.2.1 8.2.2 8.2.3 8.2.4 8.2.5 8.2.6 Register Descriptions. Register 1 - MAC address MSB. The 2 most significant bytes of the module MAC address is placed here. Bit 16-31 0-15 Output Reserved 16 Most significant bits of MAC address. Register 2 - MAC address LSB. The 2 most significant bytes of the module MAC address is placed here. Bit 0-31 Output 32 Least significant bits of MAC address. Register 3 - IP address. This is the combined IP address and node ID of the device. Only the node ID part is writeable the rest of the IP address is fixed. Bit 24-31 16-23 8-15 0-7 I/O 192 168 100 Node ID Register 4 - Netmask. This is the netmask of the device. The netmask is fixed. Bit 24-31 16-23 8-15 0-7 I/O 255 255 255 0 Register 5 - Gateway. This is the gateway address of the device. The gateway address is also fixed. Bit 24-31 16-23 8-15 0-7 I/O 192 168 100 254 Register 6 - Setup bits This register is used to setup the module configuration and how the module should react on different events. Bit 11-31 10 9 Output Reser- DHCP Input ved Enable Mirror 8 7 6 5 Output Input PDO - Mirror 8 regis- regisMirror debounce ters ters 4 3 2 1 EndEnable Clear Disable drive “Name error less relative profile of hanstation” dling 0 Ethernet error handling. Change of bits also requires save in flash (save to permanent memory) and a power cycle to be activated. Bit 0 Ethernet error handling Bit 1 Disable error handling 0* = Set motor to passive mode when error occurs. 1 =Set velocity to 0 when error occurs (active brake). 0* = Ethernet error handling enabled. 1 =Ethernet error handling disabled. Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 173 8.2 Register Descriptions. Bit 2 Clear “Name of station” 0 = "Name of station" is preserved after power up. 1* = "Name of station" is blank after power up. Only applicable to the Profinet protocol. Bit 3 Enable drive profile 0 = JVL drive profile. 1* = CiA® DSP-402 drive profile enabled. Only applicable to the EtherCAT® protocol. Bit 4 Endless relative 0* = Endless relative disabled. 1 = Endless relative enabled. If relative mode is selected in the control word, then the actual position never changes. When selecting this mode absolute positioning can no longer be used. This bit only applies for DSP-402 profile. Bit 5 Mirror registers 0* = No mirror of module registers. 1 = Enable mirror of module registers to start address 0x300. Only applicable to the ModbusTCP protocol. Bit 6 PDO - 8 registers 0* = 5 x 32 bit registers in each PDO. 1 = 8 x 32 bit registers in each PDO. Requires a save in flash and a power cycle to be activated. Only applicable to JVL profile (not DSP-402). Bit 7 Input de-bounce 0* = No input de-bounce 1 = Enable de-bounce on input 1-4, when mirror to motor. (Results in a 15-25ms delay, where normal response time is below 1ms). Bit 8 Output mirror 0* = No output mirror 1 = Enable mirror of module outputs from motor error register bit 30-31. Bit 9 Input mirror 0* = No input mirror 1 = Enable mirror of module inputs to motor register 210 bit 2-5. Bit 10 DHCP enable 0* = DHCP disabled. 1 = Enable of DHCP in module. Only applicable to EthernetIP and ModbusTCP protocols. * Factory default. 174 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 8.2 8.2.7 Register Descriptions. Register 7 - Digital outputs on module. Only applicable for MAC00-Ex4/-Ex41 With this object the digital outputs can be controlled. The value written to this object is directly shown on the digital outputs. Bit 2-31 Output Reserved * 8.2.8 1 0 Output2* Output1* (O2) (O1) The availability of the outputs depends on the actual version of the module used. MAC00-EC4 only support Output 1 (O1). MAC00-EC41 supports both output 1 and 2 (O1 and O2). Register 8 - Poll division factor. With this object a poll division factor can be set. This enables use of cycle times faster than the motor is capable of. If for example having a MAC050-141 and 5 cyclic write and 5 cyclic read registers, then a minimum cycle time of 20ms is needed. Instead it is possible to have a net cycle time of 1ms, and a poll division factor of 20. Then the motor internally only get updated every 20ms. Bit 16-31 0 - 15 R/W Reserved Poll division factor Only applicable for EtherCAT® in MAC050-141. Only read at power-up, or after reset. So in order to change the value, first change this value, then issue a “save in flash” command, then reset the module. 8.2.9 Register 9 - Station alias (node number). Only applicable to EtherCAT. With this object a station alias (node number) is set manually. Bit 16-31 0 - 15 R/W Reserved Station alias Only read at power-up, or after reset. So in order to change the value, first change this value, then issue a “save in flash” command, then reset the module. 8.2.10 Register 10 Modbus time-out Only applicable to ModbusTCP. The Modbus TCP protocol does not have an implementation for timeout on application layer and this may be required when controlling a drive. A supervision method has been implemented for this purpose. If modbus timeout is set to zero, this feature is disabled. The unit of the parameter is 100ms (e.g. “35” will give 3.5 seconds). Bit 16-31 0-15 Output Reserved Modbus timeout in units of 100ms. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 175 8.2 8.2.11 Register Descriptions. Register 11 - Input mask Only applicable for MAC00-Ex4/-Ex41 Only applicable to EtherCAT® with CiA402 drive profile. This register is used to setup input mask on the digital inputs (IN1-4). Bit 16-31 15-12 11-8 7-4 3-0 Output Reserved Reserved PL mask Reserved NL mask NL mask Bit set results in that corresponding input is configured as Negative Limit switch. Bit 0-3 corresponds to IN1-4. PL mask Bit set results in that corresponding input is configured as positive Limit switch. Bit 8-11 corresponds to IN1-4. 8.2.12 Register 15 - Command register This object is used for sending commands to the module and is write only. Use this register instead of the MAC/MIS motor command register when used cyclic, to make sure that commands are only executed once. If this register is placed in the cyclic list, and it is requested to execute the same command more than once, then it is required to send a "No operation" command in between. The possible commands are listed in the three tables shown below and in the next pages. • The first table lists commands executed by the Ethernet module it self, which is mainly common to all MAC and MIS motors. • The second table lists commands which are redirected to the MAC motor command register and executed by the MAC motor controller, if the Ethernet module is installed in a MAC motor. • The third table lists commands which are redirected to the MIS motor command register and executed by the MIS motor controller, if the Ethernet module is installed in a MIS motor. Be aware that some of the commands only applies for specific protocols. Common commands Command no. Command description Hex Dec MAC050 - MAC141 MAC400 – MAC3000 MIS34x / 43x Module only commands 0x 0000 0000 0 No operation < Same as < Same as 0x 0000 0001 1 Reset the module < Same as < Same as 0x 0000 0010 16 Save module parameters to flash < Same as < Same as 0x 0000 0011 17 Flash with power LED for 120 seconds. < Same as < Same as 0x 0000 0012 18 Restore factory defaults. < Same as < Same as 0x 0000 0013 19 Copy Sync0 pulse to Out1 < Same as No operation 0x 0000 0014 20 Remove Sync0 from Out1 < Same as No operation Synchronized commands Simultaneous reset of the motor and the 0x 0000 0101 257 < Same as < Same as module Save the motor parameters in flash 0x 0000 0110 272 memory, and do a re-sync. of internal < Same as < Same as communication afterwards. 176 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 8.2 Register Descriptions. MAC motor commands" Only applicable for motors with module MAC00-Ex4/-Ex41 Command no. Hex Command description Dec 0x 8000 0001 2147483649 0x 8000 0002 2147483650 0x8000 00E0 0x8000 00E1 0x8000 00E2 0x8000 00E3 0x8000 00E4 0x8000 00E5 0x8000 00E6 0x8000 00E7 0x8000 00E8 0x8000 00E9 0x8000 00EA 0x8000 00EB 0x8000 00EC 0x8000 00ED 0x8000 00EE 0x8000 00EF 0x8000 00F0 0x8000 00F1 0x8000 00F2 0x8000 00F3 0x8000 00F4 0x8000 00F5 0x8000 00F6 2147483872 2147483873 2147483874 2147483875 2147483876 2147483877 2147483878 2147483879 2147483880 2147483881 2147483882 2147483883 2147483884 2147483885 2147483886 2147483887 2147483888 2147483889 2147483890 2147483891 2147483892 2147483893 2147483894 0x8000 00F7 2147483895 0x8000 00F8 2147483896 0x8000 00F9 0x8000 00FA 0x8000 00FB 0x8000 00FC 0x8000 00FD 0x8000 00FE 0x8000 00FF 2147483897 2147483898 2147483899 2147483900 2147483901 2147483902 2147483903 MAC050 - MAC141 Reset motor (not recommended, use synchronized version instead). Save motor parameters in flash and reset motor (not recommended, use synchronized version instead). No operation Reset error (Clear error bits in motor register 35) P_SOLL = 0 P_IST = 0 P_FNC = 0 V_SOLL = 0 T_SOLL = 0 Reset IN_POS, AC C,DEC P_FNC = (FLWERR - P7) * 16 P_FNC = (FLWERR - P8) * 16 Reserved Reserved Activate P1,V1,A1,T1,L1,Z1 Activate P2,V2,A2,T2,L2,Z2 Activate P3,V3,A3,T3,L3,Z3 Activate P4,V4,A4,T4,L4,Z4 Start search zero P_SOLL = P_IST + P7; P_SOLL = P_IST + P8; Reserved Select absolute position mode Select relative position mode using P_SOLL Select relative position mode using P_FNC Synchronize position manually using absolute new values. P_IST = P_NEW; P_SOLL = P_NEW; P_FUNC = P_NEW * 16; Synchronize position manually using relative new values. (basically offset the position range with the value of P_NEW). P_IST = P_IST + P_NEW; P_SOLL = P_SOLL + P_NEW; P_FUNC = P_FUNC + (P_NEW * 16); No operation No operation No operation No operation Reserved Reserved Reserved MAC400 – MAC3000 < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as P_SOLL = P_IST + P7 – FLWERR; P_SOLL = P_IST + P8 – FLWERR; < Same as < Same as < Same as < Same as Synchronize position manually using absolute new values. P_IST = P_NEW; P_SOLL = P_NEW; P_FNC = (P_NEW + FLWERR)*16; < Same as < Same as < Same as < Same as < Same as < Same as < Same as < Same as Table continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 177 8.2 Register Descriptions. MIS motor commands - Only applicable for MISxxxxxxExxxxx Command no. Command description Motor only FastMac commands (via module cmd register) Hex 0x8000 0060 0x8000 0061 0x8000 0062 0x8000 0063 0x8000 0064 0x8000 0065 0x8000 0066 0x8000 0067 0x8000 0068 0x8000 0069 0x8000 006A 0x8000 006B 0x8000 006C 0x8000 006D 0x8000 006E 0x8000 006F 0x8000 0070 0x8000 0071 0x8000 0072 0x8000 0073 0x8000 0074 0x8000 0075 0x8000 0076 0x8000 0077 0x8000 0078 0x8000 0079 0x8000 007A 0x8000 007B 0x8000 007C 0x8000 007D 0x8000 007E 0x8000 007F Dec 2147483744 2147483745 2147483746 2147483747 2147483748 2147483749 2147483750 2147483751 2147483752 2147483753 2147483754 2147483755 2147483756 2147483757 2147483758 2147483759 2147483760 2147483761 2147483762 2147483763 2147483764 2147483765 2147483766 2147483767 2147483768 2147483769 2147483770 2147483771 2147483772 2147483773 2147483774 2147483775 No operation Reset errors and warnings P_SOLL = 0 P_IST = 0 Reserved ( do not use) V_SOLL = 0 Reserved ( do not use) Reset InPos, Acc, Dec Reserved ( do not use) Reserved ( do not use) Reserved ( do not use) Reserved ( do not use) Activate P1, V1, A1, T1 Activate P2, V2, A2, T2 Activate P3, V3, A3, T3 Activate P4, V4, A4, T4 Start zero search P_SOLL = P_IST + P7 P_SOLL = P_IST + P8 No operation Select absolute position mode Select relative position mode Reserved, do not use Copy P_NEW to both P_SOLL and P_IST Add P_NEW to both P_SOLL and P_IST Reserved ( do not use) Reserved ( do not use) Reserved ( do not use) Reserved ( do not use) Reserved ( do not use) Reserved ( do not use) Reserved ( do not use) Motor only normal commands (via module cmd register) 0x8000 010B 0x8000 010C 178 Reset motor (not recommended, use synchronized version instead). Save motor parameters in flash and reset motor (not recommended, use synchronized version instead). JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 8.2 Register Descriptions. 8.2.13 Register 16-23 - Register no. to place in “Cyclic Read” These registers contain the numbers that define the registers which are in the Cyclic Read. That is the register's, which is transmitted from slave to master cyclically. If some of these registers are changed, it is necessary to issue a "save in flash" command and to reboot the device before the changes take effect. 8.2.14 Register 24-31 - Register no. to place in “Cyclic Write” These registers contain the numbers that define the registers which are in the Cyclic Write. That is the register's, which is transmitted from master to slave cyclically. If some of these registers are changed, it is necessary to issue a "save in flash" command and to reboot the device before the changes take effect. 8.2.15 Register 32-38 These registers contain HW, SW and communication information of the module. 8.2.16 Register 39 CRC error count on SPI. This register reflects the no. of CRC errors that have occurred on the internal SPI communication with the motor, since power up. 8.2.17 Register 47 - Digital inputs on module Only applicable for MAC00-Ex4/-Ex41 With this object the status of the 4 digital inputs can be read. Bit 4-31 Input Reserved * 8.2.18 3 2 1 0 IN4* IN3* IN2* IN1* The availability of the inputs depends on the actual version of the module used. MAC00-EC4 only support Input 1 (IN1). MAC00-EC41 supports input 1, 2, 3 and 4 (IN1, IN2, IN3 and IN4). Register 48 - Status bits This register is used for miscellaneous information about the module. Bit 16-31 15 Output Do not use 14 13 PL NL Sync active active error 12 11 10 9 8 RS232 Mactalk UDP Mactalk Distibuted Clock enabled. Only aplicable to EtherCAT®. Cyclic PLC communication is running. Applicable to EthernetIP, EtherCAT®, Powerlink, or Profinet. Do 1=No com- Do not munica- not use tion with use the motor 7 0-6 Further descriptions - see next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 179 8.2 Register Descriptions. BIT 7 No motor comm.No communication between motor and module. BIT 9 CYCLIC RunningCyclic communication with PLC running. Not aplicable for the ModbusTCP protocol. Bit 10 DC enableDistributed Clocks enabled. Only aplicable to EtherCAT. Bit 11 UDP Mactalk. MacTalk connected via UDP Bit 12 RS232 MacTalk. MacTalk connected via RS232 Bit 13 SYNC_ERROR. PLL synchronization error in motor Bit 14 NL_ERROR. Negative limit switch activated Bit 15 PL_ERROR. Positive limit switch activated. 8.2.19 180 Register 49 - Current protocol type installed in Ethernet module 0x34 = EthernetIP. 0x35 = EtherCAT®. 0x36 = Ethernet POWERLINK. 0x37 = ProfiNet. 0x38 = ModbusTCP. 0x39 = SercosIII. Not available yet. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 9 Using MacTalk over Ethernet JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 181 9.1 9.1.1 Using MacTalk over Ethernet Introduction The configuration software tool MacTalk is able to connect to a motor either using a serial connection or an Ethernet based TCP/IP connection. Please notice that there are some limitations/precautions. • Currently only the PROFINET, the EthernetIP, the ModbusTCP and EtherCAT is supported. PROFINET IO firmware version must be firmware version 3.17 Build 425 or higher. EthernetIP must be firmware version 3.21 Build 425 or higher. ModbusTCP must be firmware version 3.17 or higher. EtherCAT must be min. firmware version 3.25 build 1120 or higher. • Make sure the motor has the latest firmware installed, that is V2.11 or newer for MAC400-3000 and V9.01 for MAC50-141. Ethernet connectivity is only supported in the MISxxxxxxExxxxxx series of stepper motors. For the MIS motors please use firmware V1.12 or greater. All the firmwares required should be included in the install package for MacTalk or by using the internet update feature in MacTalk. • Make sure that Mactalk is version 1.50.49 or newer. • At the moment firmware update is still only possible using the standard serial connection. • eRxP programming over Ethernet is only possible with MIS motors or with Ethernet module firmwares with build numbers of at least 1120. • You should not have a serial cable connected at the same time as Mactalk over Ethernet, as it will ruin any attempts on eRxP programming, and firmware updates. The hardware required is the mandatory 24V supply for the motor and the Ethernet cable going either from an Ethernet switch or directly from the PC to the M12 connector on the MAC00-Exx module in the motor. In order to establish the Ethernet connection from the PC where MacTalk is running, to the motor the PC and the motor needs to be configured to run on the same network. By default the motor is configured to run on the following IP-address: 192.168.0.XX at startup where XX refers to the last 2 digits in the MAC-ID which is printed on a label. So, if a MAC-ID has the value: 00 : 50 : C2 : D0 : C9 : 14, then the IP address is set to: 192.168.0.20. Please remark that the MAC address is in hexadecimal and that the IP address is in decimal. The PC from where MacTalk is used needs to be configured for this IP range. The in depth PC – configuration is beyond the scope of this manual since this greatly depends on the networks equipment end network connected. However a brief description on how to configure the IP address manually is discussed. This method is necessary if the motor is connected directly to the Ethernet port in the PC or if the network isn’t capable of assigning IP addresses to connected equipment automatically. NOTE! With laptops or desktops with more than one network card, ie. a wireless one, it can be necessary to turn off the unused one, to force windows to route the requests the correct way. 182 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 9.2 9.2.1 Setting up the Ethernet at the PC Setting up the EthernetIP, Profinet or ModbusTCP at the PC. When a connection is made directly from the PC it is very important to observe the IPsettings of the PC, since the most common way is for the PC to receive the settings from a server such as a DHCP/server or similar. Since the motor doesn’t offer any DHCP service it is necessary to setup the IP-address in the PC manually. Please note that this is taken from Windows 7, but the method is basically the same for other Windows version. To reach the IP settings please follow this path: Step 1. Press the LAN-Connection and press the “Properties”. Follow this path to find the network settings LAN-connection TT3071-01GB Find the «LAN-Connection» Continued next page JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 183 9.2 Setting up the Ethernet at the PC Step 2. Find the “Internet protocol version 4 (TCP/IPv4)” and press “Properties”. Find the «Internet protocol version 4 (TCP/IPv4)» Press «Properties» TT3072-01GB Press «Properties» Now the settings finally appears and we are able to change the IP address, subnet mask and gateway. Step 3. Select “Use the following” and enter a valid configuration similar to the one below. TT3073-01GB The above example is a basic settings that sets the IP address on the PC to 192.168.0.59, subnet mask to 255.255.255.0 and the gateway to 1.1.1.1. Now the PC is configured for a fixed IP address and is ready to establish the connection to the motor. 184 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 9.2 9.2.2 Setting up the Ethernet at the PC Setting up the Ethernet at the PC (EtherCAT). With EtherCAT it is not allowed to connect Mactalk directly to the JVL motor(s) via Ethernet. As this protocol is a master-slave protocol it is only allowed to connect Mactalk to the Master which then routes the Mactalk frames to the motor(s), and response frames back to Mactalk. This is done via a special protocol named EoE (Ethernet over EtherCAT), by which the normal Ethernet frames are send on the EtherCAT network in between the real-time frames. Please see the illustration below. TT3105-01GB Mactalk IP: 172.16.17.100 GW:172.16.17.1 Normal Ethernet IP: 172.16.17.1 EtherCAT master IP: 10.10.10.20 JVL Motor IP: 10.10.10.233 GW: 10.10.10.20 JVL Motor IP: 10.10.10.234 GW: 10.10.10.20 JVL Motor IP: 10.10.10.xxx GW: 10.10.10.20 EtherCAT network The IP addresses shown on the figure is just an example of a working configuration. The EtherCAT master needs to be setup to act as a router between Mactalk and the slaves on the EtherCAT network. The EtherCAT master has to be setup first, to know what to setup in the Mactalk-PC and in the JVL motor slaves. Below is shown the steps for configuring a Beckhoff TwinCAT master to route normal Ethernet frames to the JVL slaves on the EtherCAT network. Step 1-3. Select the I/O Device, then select the “EtherCAT” tab and press the “Advanced Settings” button. TT3106-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 185 9.2 Setting up the Ethernet at the PC Then it is possible to setup the JVL Motors for working correctly with EoE. Please follow the steps shown below. Step 4. Check the “IP Enable Router” in the EoE support. If not already checked, then a reboot of the EtherCAT master is necessary. TT3107-01GB Step 5. Find the IP addresses of the interfaces in the EtherCAT master. If necessary then change them to something suitable (beyond the scope of this manual). TT3108-01GB 186 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 9.2 Setting up the Ethernet at the PC Step 1-3. Select the JVL Drive, then select the “EtherCAT” tab and press the “Advanced Settings” button. TT3109-01GB Step 4. In the “Advanced Settings” window expand the “Mailbox” item and press the “EoE” item. Check that “IP Port” and “IP Address” checkboxes is checked. If not then check them. Make sure that the IP address, subnet mask and the default Gateway is suitable (IP address have to be same subnet as the EtherCAT interface on the EtherCAT master; the Default gateway have to be exactly the IP address of the EtherCAT interface on the EtherCAT master). TT3110-01GB When there is a router – as is necessary in EtherCAT – in between Mactalk and the motor, the Mactalk PC has to be setup so it knows the IP address of the router to use. So setup the Gateway address in the Mactalk PC to the IP address of the Ethernet interface of the EtherCAT master, and be sure that the Mactalk PC, IP address is in the same subnet as the EtherCAT master. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 187 9.2 Setting up the Ethernet at the PC Follow the steps in paragraph 9.2.1 - Setting up the EthernetIP, Profinet or ModbusTCP at the PC., page 183, but exchange the IP address with one in the same subnet as the Ethernet interface of the EtherCAT master, and set the default gateway to the IP address of the Ethernet interface of the EtherCAT master. With the settings used in this example the setup looks like this: TT3111-01GB Now the connection is setup and should work. But it is advisable to test the connection stepwise first. Open a command prompt on the Mactalk PC by pressing start and then run. Then enter cmd and press OK. In the command prompt first try to ping the Ethernet interface on the TwinCAT master by entering its IP address, for example: • ping 172.16.17.1Å Replace IP with the TwinCAT master Ethernet interface address from your system. Next ping the EtherCAT interface on the EtherCAT master by entering the IP address of the master: • ping 10.10.10.20Å Replace IP with the TwinCAT master EtherCAT interface address from your system. Last ping the JVL motor on the EtherCAT network: • ping 10.10.10.233Å Replace IP address with the JVL motor IP address from your system. If one of the “pings” should fail, go back to the setup and check that every step is done correctly. 188 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 9.3 9.3.1 Setting up MacTalk for Ethernet Setting up MacTalk for Ethernet communication When MacTalk is opened the first time it is, by default configured for running serial RS232/RS485 connection. To change this please find the address box next to the “COM scan” in the upper tool bar and change it from “All” to “Eth”. Step 1. Select “ETH” as shown below. TT3074-01GB Step 2. After changing the the Address box, the IP-address input field appears. The IP-address field is now shown TT3075-01GB Step 3. Now MacTalk is ready to connect to the motor and the next step is to enter the IP address of the motor to connect to. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 189 9.3 Setting up MacTalk for Ethernet Step 4. Lets assume that the motor with the IP address 192.168.0.58 is connected to the PC from where MacTalk is running or the same network that the PC is running, we enter the IP address. Insert the IP-address here TT3076-01GB Step 5. Since it is the first time the address is entered MacTalk offers the possibility to sign in the IP address and assign an alias name to this IP address which is stored and later be shown in the address field instead of remembering the IP address of the motor. This greatly helps managing multiple motors in a network instead of handling all the ”anonymous” IP addresses. Step 6. The following dialog appears when a new address is entered. TT3077-01GB Step 7. Pressing “Yes” will show the list of IP addresses and user composed names. TT3078-01GB 190 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 9.3 Setting up MacTalk for Ethernet Step 8. In the list presented we have added a motor with the IP/address 192.168.0.56. This motor is stepper motor so we name it “Stepper_x” to be easy recognizable. We also have a MAC140 motor in the network, for this motor we have assigned the name M140. The list is added to the address bar which automatically suggest the motor when we type in the first letters of the name. The motor can also be selected directly in the list. Please note that both the IP address and the name is added to the list and saved. The list is loaded automatically when MacTalk is started. Step 9. Add a name to the list in the field next to the IP address and press “Ok”, Now the list is saved. The name entered can now be used to access the motor on the network. The complete list can be cleared by pressing “Clear list” or a single enty can be deleted by pressing “Delete”. When MacTalk is started this list is read and added to the address bar selections, so that either the name or the IP address can be selected. TT3079-01GB To make a quick select in the names or IP addresses, click here. The Address\naming -list can be shown anytime by pressing this button. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 191 192 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 10 Examples common to all protocols JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 193 10.1 10.1.1 Using module I/O in embedded RxP Using module I/O in embedded RxP When using the module digital I/O's - which is opto isolated - it is necessary to use external supply to power the opto isolators to the pins IO- and O+ in the "I/O" connector. Please see chapter 2 External signals available at the MAC00-Ex4 and Ex41., page 15 for further details. A possible exception to this is when using MAC00-Ex41 containing extended I/O’s. If using this module it is possible to activate the two dip switches inside the module. Then the internal power is also supplied to the opto isolators thereby eliminating the need for external supply. The module I/O's (2 outputs and 4 inputs in MAC00-Ex41, 1 output and 1 input in MAC00-Ex4) are as default accessible from the PLC by writing and reading to/from the module registers 7 and 47. Please refer to chapter 8 for further details. If it is required to use the digital module I/O's in embedded RxP (eRxP - integrated sequential PLC), then this functionality has to be enabled first. This is either done by manually manipulating the bits 7-9 in the module setup bits register (module reg. 6), from the PLC. Please see chapter 8 for further details about the module registers. Or it can be done in MacTalk in the Ethernet tab by checking the "Use I/O in eRxP" as shown below, and then pressing the "Apply and save button" Step 2 Press «Save in flash» to save this setting permanent» Step 1 Check this to use the I/Os in an eRxP program TT3092-01GB Then the module I/O's are visible from the eRxP in the motor. The module outputs O1, O2 can be activated by the bits 30 and 31 in the motor error/status register (motor reg. 35). The module inputs IN1-IN4 are read in motor register 210 in the bits 2-5. 194 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11 Appendix JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 195 11.1 Technical Data 11.1.1 EthernetIP for MAC or MIS - Technical specifications Galvanic isolated, 100MBit, full duplex, 100Base-Tx, no termination necessary. Network topology: Line, Star, Tree, Ring. Supported Protocols: • DHCP - Dynamic Host Configuration Protocol • ACD - Address Conflict Detection • DLR - Device Level Ring (ring topology on device level) Max. 100 m cable between slaves. Connectors (only applicable to MAC00-EIx): • “PWR” (power) M12 connector 5pin male • “I/O” M12 connector 8pin female • “L/A IN” and “L/A OUT” (Ethernet) M12 connector 4pin D-coded female. Supply (only applicable to MAC00-EIx): Supply voltage (CV): 12-48VDC Nominal (absolute max. 50V) Current rating (CV): typical 150mA, max. 250mA User I/O (only applicable to MAC00-EIx): User inputs: Input impedance: 4.7k Input current @24V: 5.1mA Digital output current (HW rev. Up to 1.2): 10mA Digital output current (HW rev. from 1.3): 15mA 11.1.2 EtherCAT® for MAC or MIS - Technical specifications Galvanic isolated, 100MBit, full duplex, 100Base-Tx, no termination necessary. Network topology: Line, Star, Tree, Ring (line recommended) Pass through delay: <1µs Supported Protocols: • SDO client and server side protocol • CoE Emergency messages (CoE stack) Max. 100 m cable between slaves. Maximum number of slaves: 65535 Connectors (only applicable to MAC00-ECx): • “PWR” (power) M12 connector 5pin male • “I/O” M12 connector 8pin female • “L/A IN” and “L/A OUT” (Ethernet) M12 connector 4pin D-coded female. Supply (only applicable to MAC00-ECx): Supply voltage (CV): 12-48VDC Nominal (absolute max. 50V) Current rating @ 24V DC (CV): typical 150mA, max. 250mA User I/O (only applicable to MAC00-ECx): User inputs: Input impedance: 4.7k Input current @24V: 5.1mA Digital output current (HW rev. Up to 1.2): 10mA Digital output current (HW rev. from 1.3): 15mA 196 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.1 11.1.3 Technical Data Powerlink for MAC or MIS - Technical specifications Galvanic isolated, 100MBit, half duplex, 100Base-Tx, no termination necessary. Network topology: Line and tree possibly (line recommended) Pass through delay: <0.5µs. Acyclic data tramsfer: SDO Upload/Download Functions: SDO over ASND and UDP Ethernet Powerlink version: V2 Max. 100 m cable between slaves. Maximum number of slaves (CN’s) per segment: 239 Connectors (only applicable to MAC00-ELx): • “PWR” (power) M12 connector 5pin male • “I/O” M12 connector 8pin female • “L/A IN” and “L/A OUT” (Ethernet) M12 connector 4pin D-coded female. Supply (only applicable to MAC00-ELx): Supply voltage (CV): 12-48VDC Nominal (absolute max. 50V) Current rating @ 24V DC (CV): typical 150mA, max. 250mA User I/O (only applicable to MAC00-ELx): Input impedance: 4.7k Input current @24V: 5.1mA Digital output current (HW rev. Up to 1.2): 10mA Digital output current (HW rev. from 1.3): 15mA JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 197 11.1 11.1.4 Technical Data PROFINET IO for MAC or MIS - Technical specifications Galvanic isolated, 100MBit, full duplex, 100Base-Tx, no termination necessary. Network topology: Line, ring, tree and star possibly. Forwarding delay: 3.25µs. Minimum cycle time: 1ms (with MAC400-3000). Supported Protocols • CL-RPC – Connection less Remote Procedure Call • DCP – Discovery and Configuration Protocol • LLDP – Link Layer Discovery Protocol • RTA – Real time Acyclic Protocol • RTC – Real time Cyclic Protocol, Class 1 • SNMP – Simple Network Management Protocol • MRP – MRP Client is supported Max. 100 m cable between slaves. Connectors (only applicable to MAC00-EPx): • “PWR” (power) M12 connector 5pin male • “I/O” M12 connector 8pin female • “L/A IN” and “L/A OUT” (Ethernet) M12 connector 4pin D-coded female. Supply (only applicable to MAC00-EPx): Supply voltage (CV): 12-48VDC Nominal (absolute max. 50V) Current rating @ 24V DC (CV): typical 150mA, max. 250mA User I/O (only applicable to MAC00-EPx): Digital input impedance: 4.7k Digital input current @24V: 5.1mA Digital output current (HW rev. Up to 1.2): 10mA Digital output current (HW rev. from 1.3): 15mA 198 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.1 11.1.5 Technical Data Modbus TCP/IP for MAC or MIS - Technical specifications Galvanic isolated, 100MBit, full duplex, 100Base-Tx, no termination necessary. Network topology: Line, ring, tree and star possibly. Forwarding delay: 10-130µs. Minimum cycle time: 2ms (with MAC400-3000). Max. 100 m cable between slaves. Protocol: • Function codes supported: 3, 16, 23. • Max. 124 modbus read registers per frame ( = 62, 32bit registers). • Max. 32 modbus write registers per frame (= 16, 32bit registers) • 32bit support by 2x16bit registers. Only even no. of 16bit registers. • I/O mode: Server, port 502. Connectors (only applicable to MAC00-EMx): • “PWR” (power) M12 connector 5pin male • “I/O” M12 connector 8pin female • “L/A IN” and “L/A OUT” (Ethernet) M12 connector 4pin D-coded female. Supply (only applicable to MAC00-EMx): Supply voltage (CV): 12-48VDC Nominal (absolute max. 50V) Current rating @ 24V DC (CV): typical 150mA, max. 250mA User I/O (only applicable to MAC00-EMx): Digital input impedance: 4.7k Digital input current @24V: 5.1mA Digital output current (HW rev. Up to 1.2): 10mA Digital output current (HW rev. from 1.3): 15mA JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 199 11.2 Motor registers MAC050 - 141 11.2.1 Register list for MAC050, 095, 140 and 141. The following list is only valid for the MAC50, MAC95, MAC140 and MAC141 motors. Please notice: At the Ethernet modules all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. ! Reg. Nr. 0 1 Firmware / MacRegIo Name N/A PROG_VERSION 2 MODE_REG MacTalk Name N/A Displayed on bottom right status line. Startup mode / Change actual mode Range / Default N/A Size / Access N/A Unit Description N/A Dummy register, do not use Firmware version number. The actual operating mode of the drive. In general, the motor will either be passive, attempt to reach a certain position, attempt to maintain a constant velocity or attempt to produce a constant torque. The various modes define the main type of operation as well as what determines the setpoint for that operation. The special cases 256..258 are used to perform a few special operations on the entire set of registers. Supported values are: 0 : Passive mode. The axis is not controlled by the drive, and can easily be moved by hand or external mechanics. 1 : Velocity mode. The drive will attempt to run the motor at a constant velocity selected by Reg5, V_SOLL, without violating the maximum torque or acceleration. 2 : Position mode. The drive will at all times attempt to move the actual motor position to the position selected by Reg3, P_SOLL, without violating the maximum velocity, torque or acceleration. 3 : Gear Position mode. 4 : Analogue torque mode. 5 : Analogue velocity mode. 6 : Analog Velocity Gear mode. 7 : Manual current mode. 8 : Step response test mode. 9 : Internal test mode. 10 : Brake mode. 11 : Stop mode. 12 : Torque based zero search mode. 13 : Forward/only zero search mode. 14 : Forward+backward zero search mode. 15 : Safe mode. 16 : Analogue velocity with deadband mode. 17 : Velocity limited Analog Torque mode. 18 : Analogue gear mode. 19 : Coil mode. 20 : Analogue bi-position mode. 21 : Analogue to position mode. 22 : Internal test mode. 23 : Internal test mode. 24 : Gear follow mode. 25 : IHOME mode. 256 257 258 3 P_SOLL, 32-bit Position 4 (high word of P-SOLL) - 200 -67M +67M - 32 bit R/W The target position that the drive will attempt reach in position related modes. - JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.2 Motor registers MAC050 - 141 Reg. Nr. Firmware / MacRegIo Name MacTalk Name 5 V_SOLL Max. Velocity 6 A_SOLL Acceleration 7 T_SOLL Torque 8 10 P_FNC, 32-bit (Sometimes named P_SIM) (high word of P_FNC/P_SIM) P_IST, 32 -bit 11 12 13 (high word of P_IST) V_IST KVOUT 14 15 16 17 GEARF1 GEARF2 I2T I2TLIM 18 19 UIT UITLIM 20 FLWERR, 32-bit 21 (high word of FLWERR) FLWERRMAX, 32-bit 9 22 23 24 (high word of FLWERRMAX) FNCERR, 32-bit Range / Default Size / Access Unit Description The maximum velocity the motor is allowed to use. 0-1023 2 Counts/ Sample The maximum acceleration in counts/sample the drive is allowed to use during normal operation. Also note Reg32, ACC_EMERG, used during emergency stops. - The maximum torque that the drive is allowed to use. The value 1023 corresponds to 300% of nominal load, and is the absolute maximum peak torque allowed. The value 341 gives 100% (nominal load). Counts Actual position Load factor - The actual motor position measured by the internal encoder. Updated every 1.9ms. Note that this register is maintained incrementally, which means that the user can update it to offset the working range. When updating when the drive is not in Passive mode, P_IST and P_SOLL should be updated together in an atomic operation, using Reg163, P_NEW, or other special measures. Also note that the firmware will change this register after a zero search operation has completed. Actual velocity of the drive. Ratio of the total inertia driven by the drive to the inertia of the motors rotor itself. Gear factor 1, Nominator Gear factor 2, Denominator Energy dissipated in the motor windings. Safety limit for I2T above. Motor will set an error bit if I2T gets above I2TLIMIT. Energy dissipated in the internal power dump. Limit for Reg18, UIT. Motor will set an error bit if UIT gets above UITLIM A measure of how far the drive is from its ideal regulation goal. This value is calculated differently in the various modes, and can mean things like pulses from theoretical position or difference in actual velo city to V_SOLL. Contact JVL for more detailed information for specific modes. When Reg20, FLWERR, exceeds this limit, an error bit is set in Reg35, ERR_STAT, and the motor will stop if Reg22 is non-zero. Usually this value is set experimentally to detect situations where a movement is blocked or fails. Shows how much the motor is behind the ideal movement; precise operation depends on mode. When this accumulated value exceeds Reg26, FNCERRMAX, the FNC_ERR bit is set in Reg35, ERR_STAT and the motor will stop. TT1521GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 201 11.2 Motor registers MAC050 - 141 Reg. Nr. Firmware / MacRegIo Name 25 26 27 (high word of FNCERR) FNCERRMAX, 32-bit (hi-word of FNCERRMAX) MIN_P_IST, 32 -bit (hi-word of MIN_P_IST) MAX_P_IST, 32 -bit (hi-word of MAX_P_IST) ACC_EMERG INPOSWIN INPOSCNT ERR_STAT 28 29 30 31 32 33 34 35 MacTalk Name Range / Default Size / Access Unit Description Bit 0, I2T_ERR Too much energy dissipated in the motor windings. Set when Reg16, I2T, exceeds Reg17, I2TLIM Bit 1, FLW_ERR The actual position is too far behind the ideal position. Set when FLWERRMAX is non-zero, and FLWERR exceeds FLWERRMAX. Bit 2, FNC_ERR The value of Reg24, FNCERR, exceeded the value of Reg26, FNCERRMAX. Bit 3, UIT_ERR The value of Reg18, UIT, exceeded the value of Reg19, UITLIM. Bit 4, IN_POS For position-related modes: The actual position was detected to be inside the InPosition window (Reg33, INPOSWIN) at least the number of times defined in Reg34, INPOSCNT. For other modes: Depends on mode; for velocity related modes, this bit means AtVelocity; for other more special modes, this bit is calculated differently, ask JVL for details. Bit 5, ACC_FLAG The drive is currently accelerating (the velocity is increasing). Bit 6, DEC_FLAG The drive is currently decelerating (the velocity is decreasing). Bit 7, PLIM_ERR One of the software position limits was exceeded,, drive will go into stop mode, then passive mode automatically. Bit 8, FRAME_ERR_TX A framing error was detected during the last reception on the FastMac protocol. Continued next page TT1522GB 202 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.2 Motor registers MAC050 - 141 Reg. Nr. Firmware / MacRegIo Name 35 ERR_STAT (cont. from last page) MacTalk Name Range / Default Size / Access Unit Description Bit 9, RELPOSPSOLL Bit 10, RELPOSPFNC These two bits determine what will happen when one of the eight general purpose position registers, P1-P8 is activated through either a FastMac command (including activating s register group), through writing to Reg43, P_REG_P,on changes in bi -position mode or during manual resynchronization. If both are zero, the P register gets copied to the target register(s). If Bit 9 is set, the value of Reg3, P_SOLL, is added to the target register(s) to make a relative movement. If Bit 10 is set, the value of Reg8, P_FNC, is added to the target register(s) to make a relative movement. Bit 11, IX_ERR The current in at least one of the motor windings was measured to be too high, possibly because of bad current loop filter settings. Values for the current filter have been overwritten with default values. Specifically registers 106 through 111, 127 and 128. Bit 12, UV_ERR The motor power supply voltage (Reg151, U_SUPPLY) was measured to be below the value in Reg152, U_MIN_SUP and the drive was configured to set an error bit in case of undervoltage. Bit 13, UV_DETECT The motor power supply voltage (Reg151, U_SUPPLY) was measured to be below1.25 times the value in Reg152. This is a warning bit, not an error. Bit 14, DIS_P_LIM When this bit is set (during zero search or by the user), the drive will disable its position limits so it can move also outside the position limit range. This bit is cleared automatically when the actual position gets inside the position range again. Bit 15, SSI_ERROR TT1523GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 203 11.2 Motor registers MAC050 - 141 Reg. Nr. Firmware / MacRegIo Name 36 CNTRL_BITS 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 STARTMODE P_HOME, 32-bit (hi-word of P_HOME) V_HOME T_HOME HOMEMODE P_REG_P V_REG_P A_REG_P T_REG_P L_REG_P Z_REG_P POS0 / P1, 32-bit (hi-word of P1) POS1 / P2, 32-bit (hi-word of P2) POS2 / P3, 32-bit (hi-word of P3) POS3 / P4, 32-bit (hi-word of P4) POS4 / P5, 32-bit (hi-word of P5) POS5 / P6, 32-bit 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 (hi-word of P6) POS6 / P7, 32-bit (hi-word of P7) POS7 / P8, 32-bit (hi-word of P8) VEL0 / V1 VEL1 / V2 VEL2 / V3 VEL3 / V4 VEL4 / V5 VEL5 / V6 VEL6 / V7 VEL7 / V8 ACC0 / A1 ACC1 / A2 ACC2 / A3 ACC3 / A4 TQ0 / T1 TQ1 / T2 TQ2 / T3 TQ3 / T4 MacTalk Name Range / Default Size / Access Unit Description Bit 0, USRINTF0 Bit 1, USRINTF1 Bit 2, PULSEDIR Bit 3, INPSIGN Bit 4, HICLK Bit 5, HALL_INT Bit 6, RECORDBIT Bit 7, REWINDBIT Bit 8, RECINNERBIT Bit 9, AUTO_RESYNC Bit 10, MAN_RESYNC Bit 11, INDEX_HOME Bit 12, REL_RESYNC Bit 13, HALL_C Bit 14, HALL_B Bit 15, HALL_A Velocity used during Zero Search/Homing Negative => home on falling edge of AN_INP Used by FastMac commands Bit 0, COIL_START_DIR Bit 1, COIL_POS_CMD Bit 2, COIL_PWR_CMD Bit 3, COIL_POS_ACCEPT Bit 4, COIL_PWR_FLASH TT1524GB 204 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.2 Motor registers MAC050 - 141 Reg. Nr. Firmware / MacRegIo Name 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 LOAD0 / L1 LOAD1 / L2 LOAD2 / L3 LOAD3 / L4 ZERO0 / Z1 ZERO1 / Z2 ZERO2 / Z3 ZERO3 / Z4 KFF3 KFF2 KFF1 KFF0 KVFX4 KVFX3 KVFX2 KVFX1 KVFY3 KVFY2 KVFY1 KVFY0 GEARB KVB3 KVB2 KVB1 KVB0 KIFX2 KIFX1 KIFY1 KIFY0 KIB1 KIB0 SAMPLE1 SAMPLE2 SAMPLE3 SAMPLE4 REC_CNT FNC_OUT FF_OUT VB_OUT V_EXT 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 VF_OUT ANINP ANINP_OFFSET ELDEGN_OFFSET ELDEGP_OFFSET PHASE_COMP AMPLITUDE MAN_I_NOM MAN_ALPHA UMEAS I_NOM PHI_SOLL IA_SOLL IB_SOLL IC_SOLL IX_SELECT IA_IST IB_IST IC_IST IA_OFFSET IB_OFFSET IC_OFFSET MacTalk Name Range / Default Size / Access Unit Description Velocity of external encoder (Pulse In) in counts per sample TT1525GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 205 11.2 Motor registers MAC050 - 141 Reg. Nr. Firmware / MacRegIo Name 143 144 145 146 147 148 149 150 151 152 153 154 160 ELDEG_IST V_ELDEG UA_VAL UB_VAL UC_VAL KIA KIB KIC U_SUPPLY MIN_U_SUP MOTORTYPE SERIALNUMBER, 32bit (hi-word of SERIALNUMBER) MYADDR HWVERSION CHECKSUM, 32-bit (hi-word of CHECKSUM) UV_HANDLE 161 INV_OUTPUT 162 163 164 165 166 167 INDEX_OFFSET P_NEW, 32-bit (hi-word of P_NEW) FILTERID, 32-bit (hi-word of FILTERID) HARDWARELIM 168 HOMING_DONE 155 156 157 158 159 MacTalk Name Range / Default Size / Access Unit Description Bit 0, SET_UV_ERR Bit 1, UV_GO_PASSIVE Bit 2, unused Bit 3, UV_VSOLL0 Bit 0, INV_INPOSOUT Bit 1, INV_ERROROUT Bit 2, INVROTDIR Bit 3, O1USERCTRL Bit 4, O2USERCTRL Bit 0, HW_PLIM_NEG Bit 1, HW_PLIM_POS Bit 2, HW_PLIM_IN1 Bit 3, HW_PLIM_IN2 Bit 4, HW_PLIM_IN3 Bit 5, HW_PLIM_IN4 Bit 6, HW_PLIM_IN5 Bit 7, HW_PLIM_IN6 Bit 8, HW_PLIM_ANINP Bit-0 set every time a zero search has completed. Not cleared by firmware, except after reset. TT1526GB 206 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.2 Motor registers MAC050 - 141 Reg. Nr. Firmware / MacRegIo Name 169 170 171 172 173 174 175 176 177 178 GROUP_ID GROUP_SEQ MONITOR_CMP MONITOR_REG1 MONITOR_REG2 MONITOR_ACT MONITOR_SRC MONITOR_DST MONITOR_SAV SSI_BITS1 179 OUTPUT_CTRL 180 181 182 SETUP_BITS V_IST_MAX UART1_SETUP MacTalk Name Range / Default Size / Access Unit Description Bit 0, SSI_ENABLE Bit 1, SSI_DIR Bit 2, SSI_POS_SYNC Bit 3, SSI_RESET Bit 4, SSI_NOCHECK Bit 15, SSI_ERROR_CNTL Bit 0, OUTPUT_O1 Bit 1, OUTPUT_O2 Bit 0, POWERSAVE_ENABLED 0, 1, 2 Selects what protocol to run on the RS422 lines that can be used for Pulse In, Pulse Out or Serial Data. The selection in this register is used only if the lowest two bits in Reg36, CNTRL_BITS are set to Serial Data. Values of Reg182, UART1_SETUP: 0: Autodetect incoming 1 Megabit Modbus telegrams for a few seconds after startup. Stay in Modbus if any valid Modbus telegrams detected, else switch to 19200 baud FastMac and stay in Fastmac. 1: Run the FastMac protocol at 19200 baud from the beginning and stay in FastMac. 2-65535: Run 1 Megabit/s Modbus from the beginning and stay in Modbus. 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 STATUS_BITS MODE0 / M1 MODE1 / M2 MODE2 / M3 MODE3 / M4 HWI0, 32-bit (hi-word of HWI0) HWI1, 32-bit (hi-word of HWI1) HWI2, 32-bit (hi-word of HWI2) HWI3, 32-bit (hi-word of HWI3) HWI4, 32-bit (hi-word of HWI4) TT1527GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 207 11.2 Motor registers MAC050 - 141 Reg. Nr. Firmware / MacRegIo Name 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 HWI5, 32-bit (hi-word of HWI5) HWI6, 32-bit (hi-word of HWI6) HWI7, 32-bit (hi-word of HWI7) COMMAND FIELDBUS_ADDR FIELDBUS_SPEED - MacTalk Name Range / Default Size / Access Unit Description Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes TT1528GB 208 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 11.3.1 Motor registers MAC400 - 3000 Register list for MAC400, 800, 1500 and 3000 The following list is only valid for the MAC400 to MAC3000 motors. Please notice: At the Ethernet modules all registers is transmitted as 32 bit, some of them originally derive from 16 bit in the case of MAC050-141. In those situations it is necessary to interpret them as 16 bit to get the sign correct. ! Reg. Nr. 0 1 Firmware / MacRegIo Name N/A PROG_VERSION 2 MODE_REG MacTalk Name N/A Displayed on bottom right status line. Startup mode / Change actual mode Range / Default N/A 0..25, 256, 257, 258 / 0 (passive) Size / Access N/A / R Word / RW Unit Description N/A - Dummy register, do not use. Firmware version - The actual operating mode of the drive. In general, the motor will either be passive, attempt to reach a certain position, attempt to maintain a constant velocity or attempt to produce a constant torque. The various modes define the main type of operation as well as what determines the setpoint for that operation. The special cases 256..258 are used to perform a few special operations on the entire set of registers. Supported values are: 0 = Passive mode. The axis is not controlled by the drive, and can easily be moved by hand or external mechanics. 1 = Velocity mode. The drive will attempt to run the motor at a constant velocity selected by Reg5, V_SOLL, without violating the maximum torque or acceleration. 2 = Position mode. The drive will at all times attempt to move the actual motor position to the position selected by Reg3, P_SOLL, without violating the maximum velocity, torque or acceleration. 3 = Gear Position mode. 4 = Analogue torque mode. 5 = Analogue velocity mode. 6 = Analog Velocity Gear mode. 7 = Manual current mode. 8 = Step response test mode. 9 = Internal test mode. 10 = Brake mode. 11 = Stop mode. 12 = Torque based zero search mode. 13 = Forward/only zero search mode. 14 = Forward+backward zero search mode. 15 = Safe mode. 16 = Analogue velocity with deadband mode. 17 = Velocity limited Analog Torque mode. 18 = Analogue gear mode. 19 = Coil mode. 20 = Analogue bi-position mode. 21 = Analogue to position mode. 22 = Internal test mode. 23 = Internal test mode. 24 = Gear follow mode. 25 = IHOME mode. 256: 257: 258: JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 209 11.3 Reg. Nr. 3 Motor registers MAC400 - 3000 Firmware / MacRegIo Name P_SOLL MacTalk Name Size / Access Unit Description Encoder counts Encoder counts The target position that the drive will attempt to reach in position related modes. Used to update both P_IST and P_SOLL in a single atomic operation to prevent motor movements during the change. P_NEW holds either an absolute position or a relative position. After writing a value to P_NEW, update both bits 8 and 6 in Reg36, CNTRL_BITS. Bit 8, SYNCPOSREL, will select a relative position update when set or an absolute update when cleared. Setting bit 6, SYNCPOSMAN, executes the P_IST+P_SOLL update, that is, either both are set equal to P_NEW, or P_NEW is added to both, using signed addition. P_FUNC is updated accordingly. The undocumented FastMac commands 23 and 24 can also be used to set these bits and perform the same absolute and relative updates. This is useful for expanding the logical position range beyond +/- 2^31. Desired velocity 1 RPM=2.77056 counts/sample. Example: To obtain 100 RPM, V_SOLL must be set to 277. The desired nominal acceleration. 1000 RPM/s = 3.598133 counts/Sample² Example: To obtain 100000 RPM/s, A_SOLL must be set to 360. The maximum torque that the drive is allowed to use. The value 1023 corresponds to 300% of nominal load, and is the absolute maximum peak torque allowed. The value 341 gives 100% (nominal load). 4 P_NEW (not present) ±2^31 /0 Word / RW Word / RW 5 V_SOLL Max Velocity Na / 277(100RPM) Word / RW Acceleration na / 18 Word / RW Cnt’s/ Sample² Word / RW - Word / RW Word / RW Encoder counts Encoder counts 6 Max Velocity Range/ Default A_SOLL ± 2^31 /0 Cnt’s/ sample (5003RPM/s²) 7 T_SOLL Torque 0-1023 / 1023(300%) 8 P_FNC 9 INDEX_OFFSET (not present) 10 P_IST Actual Position ±2^31 / 0 Word / RW Encoder counts 11 V_IST_16 Actual Velocity 12 V_IST (not present) 13 KVOUT Load Na / 0 Na / 0 Na / 65536(1.0) Word / R Word / R Fixed16 / RW Enc.cnt’s/ Sample/16 Enc.cnt’s/ Sample - Updated after a Zero Search to show at what single-turn encoder position the zero point was detected. This is used by MacTalk on the Test tab to show if the zero search resulted in a valid zero position. The actual motor position measured by the internal encoder. Updated every 1.3ms (or every 2.6 ms with Reg157, OUTLOPDIV=2) Note that this register is maintained incrementally, which means that the user can update it to offset the working range. When updating when the drive is not in Passive mode, P_IST and P_SOLL should be updated together in an atomic operation, using Reg4, P_NEW, or other special measures. Also note that the firmware will change this register after a zero search operation has completed. V_IST (actual velocity) measured over 16 samples. Same unit as V_SOLL (register 5). Actual velocity. 1RPM=0.17316 counts/sample. Must be set to the ratio between the total inertia driven by the motor relative to the motors own rotor inertia. So for at motor shaft that is not mechanically connected to anything, this value should be 1.0. The load factor is perhaps the single most important value of the filter setup. Always try to set this right before experimenting with filter setups. TT1501GB 210 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 Motor registers MAC400 - 3000 Reg. Nr. 14 Firmware / MacRegIo Name GEARF1 15 GEARF2 16 I2T 17 MacTalk Name Gear factor Input Gear Range/ Default Na / 2000 Size / Access Word / RW Unit Description - The nominator used to scale / gear pulses from an external encoder/source. Used in gear modes. Na / 500 Word / RW - The denominator used to scale / gear pulses from an external encoder/source. Used in gear modes. Output Motor Load (mean) Na / 0 Word / R - I2TLIM (not present) Na / 100000 Word / R - 18 UIT RegenRative Load Na / 0 Word / R 19 UITLIM (not present) Na / 2322 Word / R 20 FLWERR Na / 0 Word / RW Encoder counts 21 U_24V 22 FLWERRMAX Na / 0 Na / 0 Word / R Word / RW The calculated power dissipated in the motor, and thus an approximated value for the rise in temperature inside the physical motor. See also I2TLIM (Reg 17). MacTalk value is calculated as [%]=I2T/I2TLIM x 100 The limit for the value of Reg16, I2T, where bit 0, I2T_ERR, in Reg35, ERR_STAT will be set and the motor will change into passive mode. The calculated power dissipated in the internal power dump/brake resistors, and thus a way to estimate their rise in temperature. See also UITLIM (Reg 19) MacTalk value is calculated as [%]=UIT/UITLIM x 100 The limit for the value of Reg18, UIT, where bit 3, UIT_ERR, in Reg35, ERR_STAT will be set and the motor will change into passive mode. A measure of how far the drive is from its ideal regulation goal. This value is calculated differently in the various modes, and can mean things like ‘pulses from theoretical position’ or ‘difference in actual velocity to V_SOLL’. Contact JVL for more detailed information for specific modes. The internal control voltage measured. Encoder counts 23 UV_HANDLE - Set error bit - Go to passive - Set velocity to 0 Na / 0 Word / RW 24 FNCERR (not present) Na / 0 Word / RW Encoder counts 25 P_IST_TURNTAB (not present) Na / 0 Word / R - 26 FNCERRMAX (not present) 27 TURNTAB_COUNT (not present) Na / 0 Na / 0 Word / RW Word / RW Encoder counts - 28 MIN_P_IST (not present) Na / 0 Word / RW Encoder counts 29 DEGC (not present) Na / 0 Word / R - When Reg20, FLWERR, exceeds this limit, bit 1, FLW_ERR, in Reg35, ERR_STAT, is set and the motor will stop if Reg22 is non-zero. Usually this value is set experimentally to detect situations where a movement is blocked or fails. Bits to determine what will happen when the main supply voltage to the motor is below the threshold for motor operation. Any combination of the following bits can be set. Bit 0: Set bit 9, UV_ERR, in Reg35, ERR_STAT. Bit 1: Perform a controlled stop, then go passive. Bit 2: Set V_SOLL to zero, do not go passive. Shows how much the motor is behind the ideal movement; precise operation depends on mode. When this accumulated value exceeds Reg26, FNCERRMAX, the FNC_ERR bit is set in Reg35, ERR_STAT and the motor will stop. Displays the actual position, like P_IST, but is offset by N times the rotary table working range so P_IST_TURNTAB is always between MIN_P_IST and MAX_P_IST. Used mainly with the Rotary table option. The limit used with Reg24, FNCERR. Holds a count of the number of times the value of Reg25, P_IST, wraps around one of its limits, MIN_P_IST or MAX_P_IST. Used only with the Rotary table option. Counts up or down depending on the direction of the wrap around. Used to define and enable the minimum software position limit, so the motor will stop (and enter passive mode) if the value of P_IST (the actual position) gets below this value. If MIN_P_IST is zero, the low position limit will not be enabled. The temperature measured inside the drive. TT1502GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 211 11.3 Motor registers MAC400 - 3000 Reg. Nr. 30 Firmware / MacRegIo Name MAX_P_IST MacTalk Name Size / Access Word / RW Unit Description (not present) Range/ Default Na / 0 Encoder counts DEGCMAX (not present) Na / 690(84’C) Word / R - 32 ACC_EMERG (not present) INPOSWIN (not present) Word / RW Word / RW - 33 Na / 0 Na / 100 Used to define and enable the maximum software position limit, so the motor will stop (and enter passive mode) if the value of P_IST (the actual position) gets above this value. If MAX_P_IST is zero, the high position limit will not be enabled. In Rotary Table operation, this limit is used as the higher wrap-around position count The maximum value of Reg29, DEGC, before the motor will set the Temperature error bit in ERR_STAT and change into Passive mode. Same scaling as Reg29, DEGC. Acceleration to use during emergency stops. 31 Encoder counts The value of this parameter depends on the operating mode. In all cases it helps to define when the motor is InPosition and thus will set the InPosition bit in the ERR_STAT regis ter. For normal Position related modes, the motor is considered to be in position when the actual position is less than INPOSWIN encoder counts away from its target position P_SOLL and have been detected to be so at least INPOSCNT times. 34 INPOSCNT (not present) Na / 3 Word / RW - 35 ERR_STAT (not present) Na / 0 Word / RW - For Velocity related modes, the concept of InPosition will instead mean AtVelocity and work in a similar way that the actual velocity V_IST must have been measured INPOSCNT consecutive times to be within INPOSWIN counts/sample before the InPosition bit is set in Reg35, ERR_STAT. The number of consecutive times the In Position condition must have been met before the InPosition bit is set in ERR_STAT. See description above for INPOSWIN. Bit 0, I2T_ERR Set when the calculated thermal energy stored in the physical motor exceeds a limit. Condition is that Reg16, I2T gets larger than Reg17, I2TLIM. Bit 1, FLW_ERR Set if the follow error in Reg20, FLWERR, gets larger than Reg22, FLWERRMAX. Never set if Reg22, FLWERRMAX is zero. Bit 2, FNC_ERR Set if the function error in Reg24, FNCERR, get slarger than Reg26, FNCERRMAX. Never set if Reg26, FNCERRMAX is zero. Bit 3, UIT_ERR Set when the calculated energy/temperature in the internal brake resistor (power dump) get dangerousl high. Bit 4, IN_POS In Position mode, status of when/whether the motor position is inside the inposition window defined by RegReg33, INPOSWIN, for the number of samples defined in Reg34, INPOSCNT. In Velocity mode, this bit means rather ‘At Velocity’. For other modes, like Torque modes, see the technical manual for details of how the inposition status is calculated/maintained. Bit 5, ACC_FLAG Set when the motor is accelerating, which means that the velocity changes from a higher value to a lower value over tah latest samples. Please note that, when the velocity is negative, this flag is set when the velocity changes from a more negative value to a less negative value (closer to zero). This may not be intuitive, but can be said to be mathematically correct, and is maintained for backwards compatibility reasons. TT1503GB 212 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 Reg. Nr. 36 Motor registers MAC400 - 3000 Firmware / MacRegIo Name CNTRL_BITS MacTalk Name (not present) Range/ Default Na / 32 Size / Access Word / RW Unit Description - Bit 0, RECORDBIT Set by the user to start or continue the sampling of register values, using the Classic scope system. This bit will clear itself when the sample buffer has been filled. Bit 1, REWINDBIT If set, the index into the sample buffer will be zeroed and sampling will continue if in progress. This bit is typically set together with RECORD_BIT above. Bit 2, RECINNERBIT If set, the samplinG7scope system samples at 100 microseconds between samples instead of the normal 1.3milliseconds. Normally used only for internal JVL development and service purposes. Bit 3, RELPOSPSOLL Bit 4, RELPOSPFNC These two bits select what happens if one of the general-purpose position registers, P1 through P8 is ‘activated’ by a FastMac command. If one of these is set, this activates a relative movement rather than the absolute position move that happens if none of these bits are set. If RELPOSPSOLL is set alone, the value of the selected P1-P8 register is added to the target position register Reg3, P_SOLL. If RELPOSPFNC is set, the value of the selected P1-P8 is added to an internal variable that will generate the movement, leaving P_SOLL unchanged. This is used for ‘endless relative’ movements, since it will not cause any overflow of the target position, but note that the actual position will wrap around at +/-2^31 (2,147,483,648 counts) without problems for the movement. Note that these bits also control the movements in Analogue Biposition mode in similar ways. Bit 5, SYNCPOSAUTO If set when switching mode from Passive mode into an active mode, The follow error and the function error are zeroed, and the actual position is transferred to the P_FNC register, to avoid initial movement. Bit 6, SYNCPOSMAN Set to manually synchronize the position by copying the value of P_NEW, to P_IST, P_SOLL, and P_FNC, with proper scaling. In other words, set: P_IST = P_NEW, P_SOLL = P_NEW, P_FNC = (P_NEW + FLWERR)*16. See also bit 8 below. Note that this operation is performed as an atomic (unbreakable) operation, and is currently the only way to perform this perfect synchronization. Bit 7, MAN_NO_BRAKE Bit 8, SYNCPOSREL When set, modifies the manual synchronization performed by bit 6 above to use relative synchronization rather than absolute synchronization. In other words, set: P_IST = P_IST + P_NEW, P_SOLL = P_SOLL + P_NEW, P_FNC = P_FNC + (P_NEW + FLWERR)*16. TT1504GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 213 11.3 Reg. Nr. 39 Motor registers MAC400 - 3000 Firmware / MacRegIo Name HW_SETUP (continued from last page) MacTalk Name Range/ Default Size / Access Unit Description (not present) Na / 9 Word / RW - Bit 13, PULSE_8000 If set, rescale the 8192 encoder pulses to 8000 for MAC800 compatibility and better Vel-filter performance Bits 14..15: reserved Bit 16, DIRCDWR Direction signal for the MultiFuncIo2 A channel (or both A and B?) Bit 17, SELINDEX Not used - prepared to select between encoder A or Index signal -> MultF. Bit 18, ALWAYS_COOL Bit 19, POSITION_CAPTURE_UP Used to enable SW position capture based on analogue input rising edge Bit 20, POSITION_CAPTURE_DN Used to enable SW position capture based on analogue input falling edge Bit 21, PULSE_8000 If set, rescale the 8192 encoder pulses to 8000 for MAC800 compatibility and better Vel-filter performance Bit 22, ENC_SCALING Reserved for freely selectable encoder scaling. Bit 23, SBUF_2048 Set to use a sample buffer length of 2048. Use 512 if not set (backwards compatible). Velocity to use during a zero search operation (Homing operation). After the operation has completed, the drive will go back to using the regular V_SOLL. Torque to use during a zero search operation (Homing operation). After the operation has completed, the drive will go back to using the regular T_SOLL. Defines if the motor should start a zero search immediately after start up, as well as the type of zero search to perform when a FastMac command is received. Bits 7..0 define the zero search mode the motor should start up in. If this value is zero, the motor will not perform a zero search at startup, but will start up in the mode selected by Reg37, START_MODE. See bits 15..8 below for an exception! Bits 15..8 define what mode the motor will set when it receives a FastMac command (96+16). NOTE that if all these bits are non-zero the motor will start up in passive mode instead of starting in START_MODE! Bit 16 is set after a zero search has completed, and can thus be used to test if the motor has performed a zero search at least once after +24V was last turned on. After a zero search has completed, the motor will always change into the mode defined by Reg 37, START_MODE (unless an error occurs that will stop the motor and set ERR_STAT bit(s)). When set to 1..8, copies one of POS0..POS7 to P_SOLL, then resets to 0 When set to 1..8, copies one of VEL0..VEL7 to V_SOLL, then resets to 0 When set to 1..4, copies one of ACC0..ACC3 to A_SOLL, then resets to 0 When set to 1..4, copies one of TQ0..TQ3 to T_SOLL, then resets to 0 When set to 1..4, copies one of LOAD0..LOAD3 to KVOUT then resets to 0 When set to 1..4, copies one of ZERO0..ZERO3 to INPOSWIN, then resets to 0 40 V_HOME (not present) Na / -138 Word / RW - 41 T_HOME (not present) Na / 341 Word / RW - 42 HOME_MODE (not present) Na / 0 Word / RW - 43 P_REG_P (not present) V_REG_P (not present) 45 A_REG_P (not present) 46 T_REG_P (not present) 47 L_REG_P (not present) 48 Z_REG_P (not present) Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW - 44 0-8 / 0 0-8 / 0 0-4 / 0 0-4 / 0 0-4 / 0 0-4 / 0 - TT1505GB 214 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 Reg. Nr. Motor registers MAC400 - 3000 MacTalk Name Range/ Default Size / Access Unit 49 Firmware / MacRegIo Name POS0 Description Position1 (P1) CAPCOM0 (not present) 51 POS1 Position2 (P2) 52 CAPCOM1 (not present) 53 POS2 Position3 (P3) 54 CAPCOM2 (not present) 55 POS3 Position4 (P4) 56 CAPCOM3 (not present) 57 POS4 Position5 (P5) 58 CAPCOM4 (not present) 59 POS5 Position6 (P6) 60 CAPCOM5 (not present) 61 POS6 Position7 (P7) 62 CAPCOM6 (not present) 63 POS7 Position8 (P8) 64 CAPCOM7 (not present) 65 VEL0 Velocity 1 (V1) Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW - 50 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 277(100RPM) 66 VEL1 VEL2 Velocity register V8 - see also register 65. VEL3 - Velocity register V8 - see also register 65. 69 VEL4 - Velocity register V8 - see also register 65. 70 VEL5 - Velocity register V8 - see also register 65. 71 VEL6 - Velocity register V8 - see also register 65. 72 VEL7 Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW - 68 Na / 277(100RPM) Na / 277(100RPM) Na / 277(100RPM) Na / 277(100RPM) Na / 277(100RPM) Na / 277(100RPM) Na / 277(100RPM) - 67 Velocity 2 (V2) Velocity 3 (V3) Velocity 4 (V4) Velocity 5 (V5) Velocity 6 (V6) Velocity 7 (V7) Velocity 8 (V8) Velocity register V1. Used with the fastmac protocol or by the MAC00-R1/3/4 nanoPLC module. See also V_SOLL (register 5) which have the same scaling. Velocity register V8 - see also register 65. - Velocity register V8 - see also register 65. - TT1506GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 215 11.3 Reg. Nr. Motor registers MAC400 - 3000 MacTalk Name Range/ Default Size / Access Unit 73 Firmware / MacRegIo Name ACC0 (not present) Na / 18(5003RPM/s²) Word / RW 74 ACC1 (not present) Na / 18(5003RPM/s²) Word / RW 75 ACC2 (not present) Na / 18(5003RPM/s²) Word / RW 76 ACC3 (not present) Na / 18(5003RPM/s²) Word / RW Enc.cnt’s Per sample² Enc.cnt’s Per sample² Enc.cnt’s Per sample² Enc.cnt’s Per sample² 77 TQ0 Torque 1 (T1) Na / 1023(300%) Word / RW 78 TQ1 79 TQ2 80 TQ3 81 LOAD0 82 LOAD1 83 LOAD2 84 LOAD3 Torque 2 (T2) Torque 3 (T3) Torque 4 (T4) Load 1 (L1) Load 2 (L2) Load 3 (L3) Load 4 (L4) 85 ZERO0 (not present) 86 ZERO1 (not present) 87 ZERO2 (not present) 88 ZERO3 (not present) 89 MODE0 (not present) 90 MODE1 (not present) 91 MODE2 (not present) 92 MODE3 (not present) 93 HWI0 (not present) Na / 1023(300%) Na / 1023(300%) Na / 1023(300%) Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Description - Torque register T1. Used with t he fastmac protocol or by the MAC00-R1/3/4 nanoPLC module. See also T_SOLL (register 7) Torque register T2 - see also register 77. - Torque register T2 - see also register 77. - Torque register T2 - see also register 77. - HardWare Inputs Regs 93-104, HWI0-11, allow the digital inputs from Reg106 to control the values of other motor registers. The most common use is to copy one of two values to a target register. This can be used to switch between two velocities, positions or modes. For instance to switch between two target positions, set Reg49, POS0 to 1000 and Reg51, POS1 to 2000 and set the motor into position mode. Then P_SOLL can be set to receive either the value 1000 or 2000 depending on the voltage on the digital input (the Input State) The copying is executed every 1.3 ms. The digital inputs can thus be considered level-triggered rather than edgetriggered. (Contrinued next page) TT1507GB 216 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 Reg. Nr. 93 Motor registers MAC400 - 3000 Firmware / MacRegIo Name HWI0 (Continued from last page) MacTalk Name Range/ Default Size / Access Unit Description (not present) Na / 0 Word / RW - Each of the HW!0-11 registers have the following bit fields: Bits [31:24]: Destination register used (only) when bits [3:0] equals 7. Bits [23:16]: Source register number 0..254 for DI=1 Bits [15:8]: Source register number 0..254 for DI=0 Bits [7:4]: Select digital input bit number in Reg106. Bits [3:0]: Target register selection. 0=None, 1=MODE_REG, 2=V_SOLL, 3=P_SOLL, 4=A_SOLL, 5=T_SOLL, 6=INPOSWIN, 7=Register number from bits [31:24]. When the value of bits [3:0] are one of 1..6, the two source registers are implicitly fixed to the corresponding group of register, and the value of bits [23:16] and bits [15:8] are used as an index into that group of registers. For instance if bits [3:0] equals 3, the values of bits [23:16] and bits [15:8] must be in the range 1..8 to select POS1 ..POS8 for source registers to copy into P_SOLL. When the value of bits [3:0] equals 7, the values of bits [23:16] and [15:8] hold the full register numbers in the range 1-254. For more advanced use, any of the source register or index values can be set to zero, which means DoNothing. This effectively means that in one of the Input States a source register will be copied to the target register, while in the other Input State no copying will happen so the target register will not be modified by the digital input. The 12 HWI functions are executed every 1.3 ms in the order from HWI0 to HWI11. NO other operations happen in between regardless of communications and other parallel operations. It is therefore safe to rely on stable register values and consistent digital input values during the execution of the 12 HWI functions. This implies that HWI function with higher numbers have higher priority because they are executed later, and that it is safe to change the same target register several times during the HWI evaluation. Note that each of the HWI function can use any of the digital inputs, and that more than one HWI function can use the same digital input. A typical HWI application is Jogging, where two pushbuttons connected to two separate digital inputs are used to move the motor position manually. This can be realized with a HWI setup like: HWI0 uses Digital Input 1: ON => MODE_REG=1 (velocity mode) OFF => MODE_REG=3 (gear mode) HWI1 also uses Digital Input 1: ON => V_SOLL=+100RPM OFF => V_SOLL = 3000 RPM HWI2 uses Digital Input 2: ON => MODE_REG=1 (velocity mode) OFF => MODE_REG=3 (gear mode) HWI3 also uses Digital Input 2: ON => V_SOLL=-100RPM OFF => V_SOLL = 3000 RPM This will keep the motor in Gear mode with a maximum velocity of 3000 RM when none of the pushbuttons are activated, and change to Velocity mode wit either +100 or -100 RPM as long as one of the pushbuttons are held active. In this setup Digital Input 2 will have higher priority than Digital Input 1, because it is evaluated later and overwrites V_SOLL in case both buttons are held down. TT1508GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 217 11.3 Reg. Nr. Motor registers MAC400 - 3000 MacTalk Name Range/ Default Size / Access Unit Description 94 Firmware / MacRegIo Name HWI1 (not present) See Reg93, HWI0, for description HWI2 (not present) - See Reg93, HWI0, for description 96 HWI3 (not present) - See Reg93, HWI0, for description 97 HWI4 (not present) - See Reg93, HWI0, for description 98 HWI5 (not present) - See Reg93, HWI0, for description 99 HWI6 (not present) - See Reg93, HWI0, for description 100 HWI7 (not present) - See Reg93, HWI0, for description 101 HWI8 (not present) - See Reg93, HWI0, for description 102 HWI9 (not present) - See Reg93, HWI0, for description 103 HWI10 (not present) - See Reg93, HWI0, for description 104 HWI11 (not present) - See Reg93, HWI0, for description 105 MAC00_TYPE (not present) Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW - 95 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 - 106 MAC00_1 / Digital Inputs I/O management Na / 0 Word / RW - Identifies the Generation-2 module type autodetected at startup. 0 = No Gen2 module found, 1=MAC00-B41, 2=MAC00-P4 or MAC00-P5 found. The registers from 106 to 120 are used to support different interface modules with the Generation-2 connectors. The function of these registers will be different depending on which module is mounted in the motor. The Gen.2 module type is detected automatically by the motor at start up. Reg106, Digital inputs, is a bitmapped value where bits [15:8] show the status of hardware signals in the basic motor as described below, while bits [7:0] show the status of the digital inputs from the MAC00-B41 module. Be aware that bits [15:0] in Reg215, IO_POLARITY, can be set to invert the value of the corresponding bits [15:0] in this register. Bits [15:12] show the values of the four RS-422 signals. These are intended mostly for serial communications to some modules or to use Modbus RS485, but they can be used as digital inputs provided that the input voltage is kept within -7 to +12 volts. These are differential signals, so to use them as single-ended inputs, one of the differential lines must be kept at a constant voltage in between the high and low thresholds for the single-ended line. At the time of this writing, bits [15:12] are supported on MAC400, but not yet on MAC800. Bit 15: Multifunction 1, channel B Bit 14: Multifunction 1, channel A Bit 13: Multifunction 2, channel B Bit 12: Multifunction 2, channel A Bits [10:8] show the status of the analogue inputs ANINP2, ANINP1 and ANINP. Status will be high (logic 1) when the value of the analogue line is above 5.0 volts. This threshold can be adjusted by modifying the corresponding ANINPx_OFFSET registers. This way it is possible to use the analogue inputs as digital inputs with adjustable thresholds in the range -10V to +10V. Bit 10: ANINP2 (not signal conditioned) Bit 9: ANINP1 (not signal conditioned) Bit 8: ANINP (signal conditioned) To use ANINP3 (availab le on the MAC00-P4 and MAC00-P5 modules as analogue current loop 4-20 mA) use Reg222, IOSETUP to make ANINP reflect the (signal conditioned) value of this input, so the digital status will be shown in Bit 8. To use ANINP2 as a signal conditioned input, use a similar trick so IOSETUP is set to make ANINP reflect the signal conditioned value of ANINP2 in bit 8. Bits 6, 7, and 11 are unused. 218 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 Reg. Nr. 107 Motor registers MAC400 - 3000 Firmware / MacRegIo Name MAC00_2 MacTalk Name (not present) Range/ Default Na / 0 Size / Access Word / RW Unit Description - Shows various status bits for the currently mounted Gen2 module. For the MAC00-B41: Bit 0: Digital Output overload. This shows the staus of the output driver chip that controls the six digital outputs. The overload status can be set if either an overcurrent condition or a too high temperature is detected. This status bit is cleared when these conditions are no longer present. 108 MAC00_3 (not present) 109 MAC00_4 (not present) 110 MAC00_5 (not present) 111 MAC00_6 (not present) 112 MAC00_7 (not present) 113 MAC00_8 / B41_DO / Digital outputs I/O management Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW - Bit 1: CVO voltage detected. This bit reflects if the voltage at the CVO terminal is above a hardwired default value. CVO is the supply voltage for the digital outputs. N/U - N/U - N/U - N/U - N/U - Bits [5:0] of this register controls the digital outputs O6..O1 on the MAC00-B41 module. Each bit that is set here will enable the corresponding PNP output. It is possible to overwrite these bits by using Registers 115-120, see below. 114 115 MAC00_9 / B41_DOSTATUS MAC00_10 / B41_CONF0 I/O management (not present) Na / 0 Na / 0 Word / RW Word / RW - - Also Reg215, IO_POLARITY, will invert the value of these bits before there are written to the hardware. Shows the status of each of the six digital outputs actually written to the hardware. This value will be Reg113, possibly modified by Regs115 120 and finally possibly having some bits inverted by Reg215. Controls IO1 on MAC00-B41 (bit 0 in B41_DO). Each of the B41_CONF5..CONF0 registers can be used to modify the corresponding digital outputs by effectively overwriting bits [5:0] in Reg113, B41_DO. They can be set to replace the corresponding bit in B41_DO with any bit from any motor register in the range 1..254, typically status bits from Reg35, ERR_STAT, for instance bits INPOS or ANY_ERR. Bits [31:24]: reserved Bits [23:16]: Source register number, 1..254. Bits [15:5]: Reserved Bits [4:0]: Bit number in source register to use. 116 117 118 119 120 MAC00_11 / B41_CONF1 MAC00_12 / B41_CONF2 MAC00_13 / B41_CONF3 MAC00_14 / B41_CONF4 MAC00_15 / B41_CONF5 (not present) (not present) (not present) (not present) (not present) Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Word / RW Word / RW Word / RW Word / RW Word / RW - Reg215, IO_POLARITY, will be applied after these registers to allow general inversion of each digital output bit. Controls IO2 on MAC00-B41 (bit 1 in B41_DO). See Reg115, B41_CONF0 for description. Controls IO3 on MAC00-B41 (bit 2 in B41_DO). See Reg115, B41_CONF0 for description. Controls IO4 on MAC00-B41 (bit 3 in B41_DO). See Reg115, B41_CONF0 for description. Controls IO5 on MAC00-B41 (bit 4 in B41_DO). See Reg115, B41_CONF0 for description. Controls IO6 on MAC00-B41 (bit 5 in B41_DO). See Reg115, B41_CONF0 for description. TT1510GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 219 11.3 Reg. Nr. Motor registers MAC400 - 3000 MacTalk Name Range/ Default Size / Access Unit 121 Firmware / MacRegIo Name KFF5 KFF5 KFF4 KFF4 123 KFF3 KFF3 124 KFF2 KFF2 125 KFF1 KFF1 126 KFF0 KFF0 127 KVFX6 (not present) 128 KVFX5 (not present) 129 KVFX4 (not present) 130 KVFX3 (not present) 131 KVFX2 (not present) 132 KVFX1 (not present) 133 KVFY5 (not present) 134 KVFY4 (not present) 135 KVFY3 (not present) 136 KVFY2 (not present) 137 KVFY1 (not present) 138 KVFY (not present) 139 KVB4 (not present) 140 KVB3 (not present) 141 KVB2 (not present) 142 KVB1 (not present) 143 KVB0 (not present) 144 KIFX2 (not present) 145 KIFX1 (not present) 146 KIFY1 (not present) 147 KIFY0 (not present) 148 KIB1 (not present) 149 KIB0 (not present) Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / R Word / R Word / R Word / R Word / R Word / R - 122 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Description - Filter coefficients used by the velocity and position regulator loops. These values should be loaded only from MacTalk, and not modified by the user, since this can have dangerous effects. - Filter coefficients used by the current loop for low-level control f the phase currents. These values are fixed and should not be modified by the user. - TT1511GB 220 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 Reg. Nr. Motor registers MAC400 - 3000 150 Firmware / MacRegIo Name <reserved> 151 <reserved> 152 <reserved> 153 <reserved> 154 <reserved> 155 ID_RESERVED 156 S_ORDER 157 OUTLOOPDIV MacTalk Name Range/ Default Size / Access Unit (not present) (not present) (not present) (not present) (not present) (not present) (not present) - Na / 0 Word / RW - (not present) Na / 0 Word / RW - Description - <reserved> An S-profile can be used to modify/smooth the acceleration at the beginning and end of a change in velocity. This is useful to prevent overshoot. The value of zero disables the S-profile so the normal A_SOLL is used. Values 1..8 can be used to select a progressively smoother S-profile, with 8 being the smoothest (and slowest). The value of S_ORDER may not be changed unless the motor is in Passive mode (MODE_REG=0). Divider value for the velocity loop. With the standard value of 1, the velocity loop is recalculated every 1.3 ms. With a value of 2, the loop is recalculated every 2.6 ms, which can give better performance for slow movements and/or large inertia. It is absolutely necessary to use a different set of filters in Regs121-142 when changing this value. To change this value from MacTalk, and gain access to the extended filters, open the Filter Setup window, then hold down both the Control and Shift keys and double-click on the text ‘More’ to the left of the ‘Stability’ slider (at the green end). After entering the correct password, Sample Frequency can be selected and MacTalk will use the appropriate filter set. Note that the units of all velocity-related register, measured in counts/sample will now be doubled, and all acceleration-related registers, measured in 2 Counts/sample , will be four times larger. TT1512GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 221 11.3 Reg. Nr. 158 Motor registers MAC400 - 3000 Firmware / MacRegIo Name SAMPLE1 MacTalk Name (not present) 159 SAMPLE2 (not present) 160 SAMPLE3 (not present) 161 SAMPLE4 (not present) 162 REC_CNT (not present) 163 V_EXT (not present) 164 GV_EXT (not present) 165 G_FNC (not present) 166 FNC_OUT (not present) 167 FF_OUT (not present) 168 VB_OUT (not present) 169 VF_OUT Actual torque 170 ANINP (not present) 171 ANINP_OFFSET (not present) 172 ELDEG_OFFSET (not present) 173 PHASE_COMP (not present) 174 AMPLITUDE (not present) 175 MAN_I_NOM (not present) 176 MAN_ALPHA (not present) 177 UMEAS (not present) 178 I_NOM (not present) 179 PHI_SOLL (not present) 180 IA_SOLL (not present) 181 IB_SOLL (not present) 182 IC_SOLL (not present) Range/ Default Na / 0 Size / Access Word / RW Unit Description - SAMPLE1..4 controls the scope/sample function. Na / 0 Na / 0 Na / 0 0-511 or 0..2047 / 0 Word / RW Word / RW Word / RW Word / RW - Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Word / R Word / R Word / R Word / R Word / R Word / R Word / RW Word / RW Word / RW Word / R Word / R Word / R Word / RW Word / RW Word / R Word / R Word / R Word / R Word / R Word / R - - - Register number, bit field and min/max/average sample type for the first value in each sample. Register number, bit field and min/max/average sample type for the second value in each sample. Register number, bit field and min/max/average sample type for the third value in each sample. Register number, bit field and min/max/average sample type for the fourth value in each sample. Index into the sample buffer used for scope functionality. The length of the sample buffer, and thus the range of this parameter if determined by bit 23, SBUF_2048, in Reg39, HW_SETUP. See document/section “YY” for further information on the sample system. Unscaled/Raw velocity of external encoder input in pulses per 1.3ms. Velocity of external encoder input V_EXT, after being scaled by the ratio GEARF1/GEARF2 - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> TT1513GB 222 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 Motor registers MAC400 - 3000 Reg. Nr. 183 Firmware / MacRegIo Name IA_IST MacTalk Name 184 IB_IST (not present) 185 IC_IST (not present) 186 IA_OFFSET (not present) 187 IB_OFFSET (not present) 188 KIA (not present) 189 KIB (not present) 190 ELDEG_IST (not present) 191 V_ELDEG (not present) 192 UA_VAL (not present) 193 UB_VAL (not present) 194 UC_VAL (not present) 195 EMK_A (not present) 196 EMK_B (not present) 197 EMK_C (not present) 198 U_BUS Bus voltage 199 U_BUS_OFFSET (not present) 200 TC0_CV1 (not present) 201 TC0_CV2 (not present) (not present) Range/ Default Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Size / Access Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Word / R Unit Description - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - <used with motor current loop> - - The actual voltage of the internal DC bus, updated every 100 us. One count corresponds to ~0.888V. Factory offset used to calibrate the measurement of Reg198, U_BUS. <used by JVL only to monitor internal timing´> - <used by JVL only to monitor internal timing´> - TT1514GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 223 11.3 Reg. Nr. 202 Motor registers MAC400 - 3000 Firmware / MacRegIo Name MY_ADDR MacTalk Name (not present) Range/ Default Na / 0 Size / Access Word / RW Unit Description - The motor address used for the MacTalk protocol. The motor will respond to telegrams with this address or the broadcast address 255. MY_ADDR can also be used for the Modbus protocol if selected in Reg213, UART1_SETUP: 203 MOTOR_TYPE (not present) Na / 0 Word / R - 204 SERIAL_NUMBER (not present) HW_VERSION (not present) Word / R Word / R - 205 Na / 0 Na / 0 - Further, MY_ADDR can be read and used by the fieldbus modules for CANopen, DeviceNet and Profibus to define their address on the fieldbus, if not selected by DIPswitches on the MAC00-xx module. Value read from factory flash memory to identify the type of motor: 12=MAC400, 13=MAC400B, 14=MAC800, 15=MAC800B. Value read from factory flash memory to show the JVL serial number of the motor. Bits [23:20]: Value read from factory flash memory to identify the Main version of the bootloader. Bits [19:16]: Value read from factory flash memory to identify the Minor version of the bootloader. Bits [7:4]: Value read from factory flash memory to identify the Main version of the PCB controller board hardware. Bits [3:0]: Value read from factory flash memory to identify the Minor version of the PCB controller board hardware. 206 CHKSUM (not present) Word / R Word / RW - (not present) Na / 0 Na / 0 207 USEROUTVAL 208 COMM_ERRS (not present) Na / 0 Word / RW - 209 INDEX_IST (not present) Word / R - 210 HW_PLIM (not present) COMMAND_REG (not present) 212 UART0_SETUP 213 UART1_SETUP MacTalk Baudrate Serial data 214 EXTENC_BITS (not present) 215 INPUT_LEVELS (not present) 216 ANINP1 (not present) 217 ANINP1_OFFSET (not present) 218 ANINP2 (not present) 219 ANINP2_OFFSET (not present) 220 ANINP3 (not present) 221 ANINP3_OFFSET (not present) Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW - 211 0..8191 or 0..7999 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 - - The remaining bits are reserved. Value read from factory flash memory to show the checksums of the firmware and the bootloader. The values of bits [1:0] are output to the standard InPosition and ErrorOut hardware signals if the corresponding bits [9:8], USER_INPOS and USER_ERROR, in Reg39, HW_SETUP are set. Counts the number of communication errors that have occurred on the MacTalk serial interface. Errors can be framing errors and protocol data errors. Actual single-turn position of the internal encoder, valid for both incremental and absolute encoders. Hardware position limits – used by the MAC00-FSx module. 1=Reset, 2=Save to flash and reset, 128..255 = Execute FastMac commands. 0=9600, 1=19200, 2=38400, 3=57600, 4=115200, 5=230400 baud. This register selects the type of protocol to use on the Serial Data interface. See section “XX”. Supports setup of signals used for label dispenser functionality with the MAC00-B41 module. - TT1515GB 224 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.3 Motor registers MAC400 - 3000 Reg. Nr. 222 Firmware / MacRegIo Name IOSETUP MacTalk Name Size / Access Word / RW Unit Description (not present) Range/ Default Na / 0 - ANOUT1 (not present) Na / 0 Word / RW - 224 ANOUT1_OFFSET (not present) P_OFFSET (not present) 226 P_MULTITURN (not present) 227 AIFILT_MAXSLOPE (not present) 228 AIFILT_FILTFACT (not present) 229 P_QUICK N/A Word / RW Word / RW Word / RW Word / RW Word / RW Word / RW - 225 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Na / 0 Selects what hardware analogue input signal that goes to the main ANINP register and controls some filtering/signal conditioning. The value written here by the user, or by the firmware, will be output to the 4-20 mA hardware output on the MAC00P5/P4 modules. Offset that is added to ANOUT1 before writing to hardware. Used to adjust the zero position for absolute multi-turn encoders. The full multi-turn position read directly from the absolute encoder, if mounted. 223 230 XREG_ADDR (not present) Na / 0 Word / RW - 231 XREG_DATA (not present) Na / 0 Word / RW - - The actual position of the internal encoder. Much like P_IST, but updated every 100us. P_IST is updated only once every 1.3ms (or 2.6 ms for OUTLOOPDIV=2). Address of extended registers, XREGs. A positive value will write the contents of Reg231, XREG_DATA, to that register. A negative value will cause the value of that XREG to be writen to XREG_DATA. After the reading or writing operation has completed, XREG_ADDR will be set to zero. The first NN XREGs are used for configuration of the switchboard for hardware signals that can be routed in several ways through the FPGA in MAC800 HW 1.8 and later or MAC400 HW1.? And later. Data to or from extended registers. See XREG_ADDR for description TT1516GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 225 11.4 11.4.1 Motor registers MIS34x & 43x Register list for MIS34x and MIS43x. The following list is only valid for the MIS34x and MIS43x stepper motors. Please notice: At the Ethernet modules all registers is transmitted as 32 bit. ! Reg 6 Name A_SOLL Size 32bit Access Range R/W 1-500,000 Default 1000 Unit RPM/s2 7 32bit R/W 0-1533 511 5.87 mA 32bit R/W 1-65535 500 ms 32bit R/W 0-1533 128 5.87 mA 10 RUN_ CURRENT STANDBY_ TIME STANDBY_ CURRENT P_IST 32bit R/W (-231)-(231-1) - Steps The actual position. This value can be changed at any time. Actual position 11 12 Reserved V_IST 32bit R - 0.01 RPM The current velocity. Actual velocity 13 V_START 32bit R/W -3000.00 3000.00 1-3000.00 1.00 0.01 RPM Start velocity 14 15 16 (GEAR1) (GEAR2) ENCODER_ POS 32bit 32bit 32bit R/W R/W R/W (-215)-(215-1) 1600 (-215)-(215-1) 2000 (-231)-(231-1) - The start velocity. The motor will start the acceleration at this velocity. The multiplier of the gear factor The divider of the gear factor If the encoder option is installed, this show the position feedback from the encoder. 17 Reserved 8 9 Counts Counts Steps Description The acceleration/decelleraion ramp to use. If this value is changed during at movement it will first be active when the motor stops or changes direction. Current to use when the motor is running. Number of milliseconds before changing to standby current. The standby current. MacTalk name Acceleration Running Current Standby Time Standby Current Output Input Encoder position TT2401-01GB Reg 6 Name A_SOLL Size 32bit Access Range R/W 1-500,000 Default 1000 Unit RPM/s2 7 32bit R/W 0-1533 511 5.87 mA 32bit R/W 1-65535 500 ms 32bit R/W 0-1533 128 5.87 mA 10 RUN_ CURRENT STANDBY_ TIME STANDBY_ CURRENT P_IST 32bit R/W (-231)-(231-1) - Steps The actual position. This value can be changed at any time. Actual position 11 12 Reserved V_IST 32bit R - 0.01 RPM The current velocity. Actual velocity 13 V_START 32bit R/W -3000.00 3000.00 1-3000.00 1.00 0.01 RPM Start velocity 14 15 16 (GEAR1) (GEAR2) ENCODER_ POS 32bit 32bit 32bit R/W R/W R/W (-215)-(215-1) (-215)-(215-1) (-231)-(231-1) 1600 2000 - Counts Counts Steps The start velocity. The motor will start the acceleration at this velocity. The multiplier of the gear factor The divider of the gear factor If the encoder option is installed, this show the position feedback from the encoder. 17 Reserved 8 9 Description The acceleration/decelleraion ramp to use. If this value is changed during at movement it will first be active when the motor stops or changes direction. Current to use when the motor is running. Number of milliseconds before changing to standby current. The standby current. MacTalk name Acceleration Running Current Standby Time Standby Current Output Input Encoder position TT2401-01GB 226 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.4 Motor registers MIS34x & 43x Reg 18 Name INPUTS Size 32bit Access Range R - Default - Unit Special 19 OUTPUTS 32bit R/W - 0 Special 20 FLWERR 32bit R (-231)-(231-1) - Steps 21 22 Reserved FLWERRMAX 32bit R/W (-231)-(231-1) 0 Steps The maximun allowed value in FLWERR before an error is triggered. If FLWERRMAX = 0, the error is disabled. 23 24 Reserved COMMAND 32bit R/W FastMac commands: 0-127 0 - Used to issue commands to the motor. 0-128 is the normal FastMac commands, where only a subset is implemented in SMC85. NOTE that not all supported commands are listed here, since some are only for factory use. Other: 256- Description The current status of the digital inputs. The current status of the digital outputs, can be written to change the outputs. When the encoder option is installed this show encoder deviation from the calculated position (P_IST). (Continued next page) Reg Name Size Access Range Default Unit 25 STATUSBITS 32bit R - Special - MacTalk name “Status bar” TT2402-01GB Description MacTalk name User Commands: 256: Activates new Baudrate 257: Synkronize position with encoder 259-266 : Reserved, do not use 267: Reset 268: Save in flash and reset 269: Save in flash and continue 270-300: Production test, do not use 321: Read SSI encoder value 322: Read SSI encoder value and convert from Gray code to binary Status bits: Run Status Bit 0: Reserved Bit 1: AutoCorrection active Bit 2: In Physical Position Bit 3: At veloctiy Bit 4: In position Bit 5: Accelerating Bit 6: Decelerating Bit 7: Zero search done Bit 8: PassWord lock Bit 9: Magnetic encoder error Bits 10-15: Reserved TT2403-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 227 11.4 Motor registers MIS34x & 43x Reg 26 Name TEMP Size 32bit Access R Range Default - Unit -2.27 – uses offset Steps Description Temperature measured inside the motor. See the detailed description for information on the value scaling. Negative software position limit 27 28 29 30 31 32 Reserved MIN_P_IST Reserved MAX_P_IST Reserved ACC_EMERG 32bit R/W (-231)-(231-1) 0 32bit R/W (-231)-(231-1) 32bit R/W 33 IN_POSITION_ 32bit WINDOW 34 IN_POSITION_ 32bit COUNT Position limit min 0 Steps Positive software position limit Position limit max 1-500.000 10.000 RPM/s Error acceleration R/W 0-32767 5 Steps R/W 0-100 0 Counts Accelearion to use when performing an emergency stop when an error has occurred. Selects how close the internal encoder position must be to P_SOLL to set the InPhysicalPosition status bit and prevent furtherAutoCorrection. The number of times to attempt AutoCorrection. A value of zero disables AutoCorrection. Description Error bits: Bit 0: General error (always set together with another error bit) Bit 1: Follow error Bit 2: Output driver error Bit 3: Position Limit error Bit 4: Low bus voltage error Bit 5: Over voltage error Bit 6: Temperature too high Bit 7: Internal error (Self diagnotics failed) Bit 8: Encoder lost position Bit 9: Reed sensor counting error Bit 10: No comm. to encoder Bit 11: External encoder error Warning bits: Bit 0: Positive limit active Bit 1: Negative limit active Bit 2: Positive limit has been active Bit 3: Negative limit has been active Bit 4: Low bus voltage Bit 5: Reserved Bit 6: Temperature has been above xx °C MacTalk name Errors Reg 35 Name ERR_BITS Size 32bit Access R/W 36 WARN_BITS 32bit R/W Range Default 0 Unit Special 0 Special MacTalk name Temperature TT2404-01GB Warnings TT2405-01GB 228 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.4 Motor registers MIS34x & 43x Reg 37 Name STARTMODE Size 32bit Access R/W Range 0, 1, 2, 3 Default 0 Unit - 38 P_HOME 32bit R/W (-231)-(231-1) 0 Steps 39 40 Reserved V_HOME 32bit R/W -3000.003000.00 -50 0.01 RPM 41 42 T_HOME HOMEMODE 32bit 32bit R/W R/W 0,13,14 0 - 43 44 45 46 P_REG_P V_REG_P A_REG_P AbsEncPos 32bit 32bit 32bit 32bit R/W R/W R/W R 1-8 1-8 1-4 0..409600 0 0 0 0 Steps 47 EXTENCODER 32bit R (-215)-(215-1) 0 Counts 48 4964 Reserved Pn 32bit 32bit R/W R/W (-231)-(231-1) 0 Steps Reg 6572 7376 7780 8188 Name Vn Size 32bit Access R/W Range 0-3000.00 An 32bit R/W 1-500,000 Tn 32bit R/W 0-1533 Analog Filtered 32bit R 8996 AnalogInput 32bit 97 98 99 BUSVOL MIN_BUSVOL ENCODER_ TYPE AFZUP_Write Bits 100 Description The motor will change to this mode after powerup. This is also the mode that is used after a zero search is completed. See MODE_REG for a list of possible modes. The found zero point is offset with this value. MacTalk name Startup mode The velocity to use during zero search. Set a negative velocity to search in the negativ direction. Select the zero search that should start on powerup. Planned - Not supported yet! Planned - Not supported yet! Planned - Not supported yet! The position last read from the internal magnetic encoder. This is the absolute single-turn position. The value from an external encoder, eg. SSI. 8 Position registers. Zero search velocity Zero search position Zero search mode SSI Encoder value Position n (Pn) TT2406-01GB Default Unit 0.01 RPM Description 8 Velocity registers MacTalk name Velocity n (Vn) RPM/s2 4 Acceleration registers Acceleration n (An) 511 5.87 mA 4 Run current registers Current n (Tn) 0-4095 0 1.221 mV N/A R 0-4095 - 1.221 mV 32bit 32bit 32bit R R/W R 0-4095 0-4095 0-10 15 - 26.525 mV 26.525 mV - The voltage on inputs 1 to 8 after being filtered in firmware. See the AFZUP_xxx registers for filter parameters. 5V is equal to a value of 4095. Filtered values planned but not supported yet! The unfiltered voltage on inputs 1 to 8. 5V is equal to a value of 4095. Bus voltage Trigger point for under voltage Internal encoder resolution 32bit R/W - 0 Special Bits 0.7: Bitmask for which of the analog inputs that will use the current value of the ConfMin/Max, MaxSlope and Filter registers. Bit 15: Set when values have been copied and used. JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors N/A Bus voltage Min bus voltage “Tooltip on motor” N/A – handled on the Filter Setup screen. TT2407-01GB 229 11.4 Motor registers MIS34x & 43x Reg 101 Name AFZUP_ ReadIndex Size 32bit Access R/W Range 0, 1-8, 3276832775 Default 0 Unit Special 102 32bit R/W 0-4094 0 1.221 mV 32bit R/W 1-4095 4095 1.221 mV 32bit R/W 2-4095 4095 1.221 mV 105 AFZUP_Conf Min AFZUP_Conf Max AFZUP_ MaxSlope AFZUP_Filter 32bit R/W 1-64 64 64th of new sample 106 FilterStatus 32bit R 0-65535 0 107 SSI_Setup1 32bit R/W - - 103 104 Special Description Bits 0-7: Index (1-8) of the analog input whose ConfMin/Max, MaxSlope and filter values to load into the corresponding AFZUO_xxx registers (for readback). Bit 15 gets set after the registers have been updated. Minimum confidence limit for analog inputs. Maximum confidence limit for analog inputs. Maximum slope limit for analog inputs. Filter value for analog inputs. MacTalk name N/A – handled on the Filter Setup screen. Confidence Min Confidence Max Max Slope Filter (on the Filter Setup screen) Individual status bits for 50% of N/A (shown samples outside confidence limits graphically) (high 8 bits) and 50% of samples violated the slope limit. (low 8 bits) SSI setup bits: SSI Encoder setup Bit 0-4: No. of data bits Bit 5-7: No. of samples Bit 8-15: SSI clk. frequency Bit 16-28: Max. sample deviation Bit 29-31: Read retries TT2408-01GB Reg 108 Name PulseDirMask 109 Size 32bit Access Range R/W 0-65535 Default 0 Unit Bitmask PulseDirMode 32bit R/W 0-2 0 - 110 SettlingTime 32bit R/W 0-32676 0 ms 111 SSI_Setup2 32bit R/W - - Special 112 115 SAMPLE1-4 32bit R/W - 0 - Description Bits 0-7: Outputs for Pulse out. Bits 8-15: Outputs for Direction out. Register 109, PulseDirMode, enables these outputs in modes 1 and 2. NOT supported in SMC85 yet! Selects if the pulse and direction signals should be used only internally in the motor (0), externally only (1) or both internally and externally (2). Enables register 108, PulseDirMask. NOT supported in SMC85 yet! Number of milliseconds to wait after an AutoCorrection attempt before testing for the position being within the target window. AutoCorrection not supported in SMC85 yet! SSI setup bits: Bit 0-7: Prepare time Bit 8: Gray to bin conversion Select what register(s) to sample – part of the sample/scope function. MacTalk name Pulse signal Direction signal Pulse/Direction mode Settling time between retries SSI Encoder setup N/A TT2409-01GB 230 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.4 Motor registers MIS34x & 43x Reg 116 Name REC_CNT Size 32bit Access Range R/W - Default 0 Unit - 117 S_TIME 32bit R/W - 1 ms 118 S_CONTROL 32bit R/W - 0 - 119 (BUF_SIZE) 32bit R - - - 120 INDEX_ OFFSET 32bit R 0-1599 - Steps 121 122 Reserved Zero_Search_ BITS 32bit 32bit R/W - 0 Special 123 ERR_ACTION 32bit R/W - - - Description Number of samples to make – part of the scope/sample function. Sampletime – part of the scope/sample function. Controls the scope/sample system. The number of samples the buffer can hold. Planned – but not supported yet! The position of the zero sensor relative to the encoder index. This is set after a zero search where the index is used. MacTalk name N/A Bits to control Zero Search: Bit 0: Search for index. Bit 1: Change direction on limit. Bit 2: Search for opposite side of sensor. Bit 3: Not available at MIS34x Bit 4: Ignore switch (Used for searching only for index). Reserved Advanced – Zero search N/A N/A N/A Tests - N/A TT2410-01GB Reg 124 125 Name SETUP_BITS IOSETUP Size 32bit 32bit Access Range R/W - R/W - Default 0 0 Unit Special Special Description Bit 0: Invert direction. Bit 1: Don’t start program after power up. Bit 2-3: Encoder input type Bit 4: Enable DSP 402 support Bit 5: Synchronize to encoder after passive Bit 6: In phys. Position Bit 7: Encoder A out Bit 8: Encoder B out Bit 9: Encoder I out Bit 10: Transfer encoder to P_IST Bit 11: Multiturn Bit 12: KeepExtEncoder Bit 13: KeepSSIValue Bit 14: Use Beckhoff Bit 16: ExtEncoderDirection Bit 17: Disable Error on Travel limit Bit 0-7 sets the I/O active level. Bit 8-15 enables the I/O as an output. MacTalk name 0: Invert motor direction 1: Don’t start program after power up 2-3: 0 = Disabled, 1 = Quadrature, 2 = Puls/direction 17: No error if position limit is detected Inputs/Outputs TT2411-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 231 11.4 Motor registers MIS34x & 43x Reg 126 Name (TURNTAB_ MODE) Size 32bit Access Range R/W - Default 0 Unit Special 127 (TURNTAB_ SIZE) 32bit R/W - 0 Steps 128 129 Reserved (NL_MASK) 32bit R/W - 0 IO Mask 130 (PL_MASK) 32bit R/W - 0 IO Mask 131 132 (SON_MASK) HOME_MASK 32bit 32bit R/W R/W - 0 0 IO Mask 133 134 Reserved - - - - - Description Configures the motor to operate in one of three Turn Table modes: 0=disabled (linear position), 1=Only move in positive direction, 2=Only move in negative direction, 3=Take shortest route. Enables Register 127. Size of the Turn Table when in turntable mode, enabled by register 126. MacTalk name Turn table – mode Input mask for Negative limit input. Input mask for Positive limit input. Input mask for home sensor input(s), each bit set select which I/O 1-8 to use. - Dedicated inputs Negative limit input Dedicated inputs Positive limit input Turn table - size Dedicated inputs Home input TT2412-01GB Reg 135 Name INPUT_FILTER _MASK Size 32bit Access R/W Range - Default 0 Unit IO Mask 136 INPUT_FILTER _CNT 32bit R/W - 5 ms 137 INPOS_MASK 32bit R/W - 0 IO Mask 138 ERROR_MASK 32bit R/W - 0 IO Mask 139 32-bit R/W 32-bit R/W 32-bit R/W 142 143 144 ResurOkVoltage ResurOkCount ResurSaveVoltage ResurInput CviVoltage P_NEW 32-bit 32-bit32bit R/W R R/W (-231)-(231-1) 0 Counts 145 Reserved 140 141 Description Input mask for the digital inputs with input filter. Bits set use the input filter time in register 136, bits clear use a fixed update time of 100 us. The number of milliseconds the filtered digital inputs must be stable before accepting a change. Output mask for In position output Output mask for error output. MacTalk name IOx digital input filter enabled Input filter time Dedicated outputs In position Dedicated outputs Error Used with FastMac commands 23 N/A and 24 for changing both the actual and requested position in one operation either absolute or relative. TT2413-01GB 232 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.4 Motor registers MIS34x & 43x Reg 146 Name BAUD_RATE Size 32bit Access Range R/W 0-5 Default 1 Unit - 147 (TX_DELAY) 32bit R/W 1-255 15 Bits 148 (GROUP_ID) 32bit R/W 0-255 149 (GROUP_SEQ) 32bit R 0-255 150 MY_ADDR 32bit R/W 0-254 - - - - Description The baud rate on the serial port. 0 : 9600 baud 1 : 19200 baud (default) 2 : 38400 baud 3 : 57600 baud 4 : 115200 baud 5 : 230400 baud 6 : 460800 baud 7 : 921600 baud The time to wait before the response is transmitted. The unit corresponds to the time of one bit at the current baud rate. The group id of the motor – used for the GroupWrite telegram on the MacTalk protocol. GroupWrite not supported on SMC85 yet. The last received group write sequence – part of the MacTalk serial protocol. GroupWrite not yet supported on SMC85. The motor address. Used on the MacTalk serial protocol. MacTalk name Baud rate Transmit delay Group Id N/A Motor address TT2414-01GB Reg 151 Name MOTORTYPE Size 32bit Access R Range 80-83 Default Unit - 152 SERIALNUMBER Reserved CHECKSUM Reserved HARDWARE_ REV MAX_ VOLTAGE MAX_ CURRENT 32bit R - - - 32bit R 0-65535 - Firmware checksum 32bit R 0-65535 - 32bit R 0-100 [VDC] 0-9000 [mARMS] * 158 (AVAIBLE_IO) 32bit R - - 159 BOOTLOADER _VER NOTSAVED 32bit R 0-65535 - 32bit R/W 0-65535 0 Major*16 + The revision of the hardware Minor Volt Bit 15..0: Max voltage on bus If the bus voltage exceeeds this value, the motor will go in error. Bit 31..16: Full scale motor current in mARMS IO Mask Defines what IO that are avaible on the connector – programmed during manufacturing. Major*16 + The version of the bootloader Minor This register is not used internally, but will always be 0 after power-on. Please notice that MacTalk uses this register. 153 154 155 156 157 160 Description The motor type. 80: SMC85 81: MIS340 82: MIS341 83: MIS342 The serial number of the motor. MacTalk name “Status bar” “Status bar” “Tooltip on motor” “Tooltip on motor” N/A “Tooltip on motor” N/A TT2415-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 233 11.4 Reg 161 164 165 Motor registers MIS34x & 43x Name Reserved Size Access Range Default Unit Description MacTalk name OPTIONS_ BITS 32bit R 0-65535 - - This register contains information “Tooltip on motor” about what options that are available. Bit 0-7 defines the options available in the hardware (or licensed). Bit 8-15 defines the options available in the firmware. Bit 0,8 : CANopen fieldbus Bit 1,9 : DeviceNet fieldbus 166 167 FBUS_ NODEID FBUS_BAUD 32bit R/W 0-255 5 - 32bit R/W 0-8 2 - The nodeid on the CANopen fieldbus interface. The baudrate used on the CANopen fieldbus interface. 0 : 1000 kbit/s 1 : 800 kbit/s (unsupported) 2 : 500 kbit/s 3 : 250 kbit/s 4 : 125 kbit/s 5 : 100 kbit/s 6 : 50 kbit/s 7 : 20 kbit/s 8 : 10 kbit/s Fieldbus – Node Id Fieldbus – Baud rate TT2416-01GB Reg 168 Name ModuleType Size 32bit Access Range R 0 Default 0 Unit - 169 170 Reserved EXT_ ENCODER 32bit 32bit R/W (-231)-(231-1) - Counts 171 172 Reserved EXT_ ENCODER_ VEL 32bit R (-215)-(215-1) - Counts/16 ms Description MacTalk name Tells which type of module is connected to the 1Mbit/s Modbus channel. 0=No module External encoder This register counts the encoder input on IN1+IN2. The type of input is selected with SETUP_BITS bit 2+3. This register is updated with the velocity of the external encoder input. The velocity is measured every 16ms. External encoder Velocity TT2417-01GB 234 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 11.4 Reg Motor registers MIS34x & 43x Name Size Access Range Default Unit Description MacTalk name The following parameters are only avaible when the CanOpen option is installed and only used for DSP-402 NOTE: CANopen, and thus also DSP-402 is NOT supported in SMC85 yet! 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 ControlWord StatusWord ModeOfOperation ModeOfOper ationDisplay TargetPosition Reserved ActualPosition Reserved TargetVelocity Reserved ActualVelocity Reserved DigitalOutputs Reserved DigitalInput 32bit 32bit 32bit R/W R R/W 0-65535 0-65535 0-255 0 0 0 - Object 6040 subindex 0 Object 6041 subindex 0 Object 6060 subindex 0 32bit R 0-255 0 - Object 6061 subindex 0 32bit R/W (-231)-(231-1) 0 - Object 607A subindex 0 32bit R (-231)-(231-1) 0 - Object 6064 subindex 0 32bit R/W (-231)-(231-1) 0 - Object 60FF subindex 0 32bit R (-231)-(231-1) 0 - Object 606C subindex 0 32bit R/W 0-65535 0 - Object 60FE subindex 1 (Low 16bit) 32bit R 0-65535 0 - Object 60FD subindex 1 (Low 16bit) TT2418-01GB Reg Name 195 Reserved 201 Other registers 202 TICKS Size 32bit Access Range Default Unit Description MacTalk name Increments at a fixed rate of one count per millisecond. Starts at zero after the motor has been reset TT2419-01GB JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 235 236 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 12 Index A AIN 18 Air Cylinder mode 18 Analogue Input AIN 18 C Cables 24 Connectors 19–25 M12 20–25 E Error output 8 Expansion modules MAC00-B1/B2/B4 9, 15, 17–21, 23–24 F Features 8 G GND 19, 21 Grounding 19–20, 22 I In position output 8 Inputs See also AIN Multifunction I/O 9, 15–16, 21 Pulse inputs 15–16 Introduction Features 8 IP67 24–25 M M12 20–25 MAC00-B1/B2/B4 Expansion Modules 9, 15, 17–21, 23–24 General analogue input (AIN) 18 General hardware aspects 14 MAC00-B4 cables 24 Power supply 17 MacTalk 19 Main Features 8 R RS232 19 Z Zero search 18, 21 JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors 237 12 238 Index JVL Industri Elektronik A/S - User Manual - Ethernet for MAC and MIS motors